Trajectory tracking control method based on zero-phase minimum-phase factorization for nonminimum-phase continuous-time system

Abstract

The purpose of this paper is development of high-precision trajectory tracking control for nonminimum-phase continuous-time systems with unstable zeros. This paper proposes a two degree of freedom control system design method that is based on a novel factorization method for nonminimum-phase continuous-time systems. First, nonminimum-phase continuous-time systems is factorized to minimum-phase system and zero-phase system in continuous-time domain. The feedforward controller is constructed from inverse system of each factorized system. The inverse system of the minimum-phase system is designed by multi-rate perfect model following control theory, and the inverse system of zero-phase system is designed by zero-phase FIR filter. Finally, This paper shows the effectiveness of proposed method by simulation and experimental results.