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Feedforward controller design for reference tracking linear systems
Dissertation   Open access

Feedforward controller design for reference tracking linear systems

Predrag Filipovic
Doctor of Philosophy (Ph.D.), Drexel University
Apr 1998
DOI:
https://doi.org/10.17918/00000721
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Abstract

The following problem has been solved in this dissertation: To design a feedforward controller for a given linear discrete (discretized) system, to track a given trajectory with bounded overshoot-undershoot, no residual vibrations, zero steady state error while optimizing chosen criteria. This is to be done in the presence of input and state constraints. The capability of a feedforward controller to deal with these requirements will be demonstrated. This in turn eliminates the need for related compromises through a feedback design. The following general problem gives the framework of this dissertation: linear system control design for reference tracking, with the predefined performance requirements. The problem formulation includes definitions of applied performance measures: overshoot, undershoot, residual vibrations, steady state error and optimization criteria The controller structure consists of two blocks-"parameters": feedback and feedforward. All design methods are based on a problem presented in the form of linear inequalities (mathematical programming). The existence of solutions has been proven. Applications of the design as well as comparison to the existing technologies are illustrated in several examples.

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