Name
Abstract | ||
|---|---|---|
The paper presents a fixed-point realization of non-minimum phase system inversion for inversion based control algorithms such as feedforward, repetitive controller, and iterative learning control. Based on the author's previous work on efficient dynamic inversion using stable pole-zero cancelation and non-minimum phase zero inversion using Kurosu filter, this paper employs the use of the Delta Operator filter realization to mitigate quantization effects in fixed-point computations. The Kurosu filter based inversion, where the difference of two IIR filters are used to approximate a high order FIR filter and switches are used to perform time reversals for phase compensation, is computationally efficient and well suited for low level fixed-point realization by digital signal processors or field programmable gate arrays. However, substantial quantization noise is evident in high sampling rate implementation. The Delta Operator realization increases computational complexity only slightly while providing substantial reduction of quantization noise. The method is employed in the feedforward and repetitive control of a piezoelectric actuator and the experimental results are presented to demonstrate its effectiveness. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ACC.2013.6580771 | American Control Conference |
Keywords | Field | DocType |
FIR filters,IIR filters,computational complexity,digital signal processing chips,feedforward,field programmable gate arrays,learning systems,piezoelectric actuators,poles and zeros,quantisation (signal),IIR filters,Kurosu filter based inversion,computational complexity,delta operator filter realization,digital signal processors,dynamic inversion,feedforward control,field programmable gate arrays,fixed-point computations,fixed-point realization,high order FIR filter,high order FIR switches,high sampling rate implementation,inversion based control algorithms,inversion based repetitive control,iterative learning control,non-minimum phase system inversion,non-minimum phase zero inversion,phase compensation,piezoelectric actuator,quantization effects,repetitive controller,stable pole-zero cancelation,substantial quantization noise,substantial reduction,time reversals | Control theory,Repetitive control,Control theory,Computer science,Infinite impulse response,Control engineering,Iterative learning control,Fixed point,Finite impulse response,Quantization (signal processing),Feed forward | Conference |
ISSN | ISBN | Citations |
0743-1619 | 978-1-4799-0177-7 | 0 |
PageRank | References | Authors |
0.34 | 4 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Herrick L. Chang | 1 | 1 | 1.09 |
| Tsu-Chin Tsao | 2 | 135 | 37.12 |