Integrating feedforward control with feedback control can
significantly improve the performance of control systems compared
to using feedback control alone. Focusing on feedforward control
techniques, Optimal Reference Shaping for Dynamical Systems: Theory
and Applications lucidly covers the various algorithms for
attenuating residual oscillations that are excited by reference
inputs to dynamical systems. The reference shaping techniques
presented in the book require the system to be stable or marginally
stable, including systems where feedback control has been used to
stabilize the system.
Illustrates Techniques through Benchmark Problems
After developing models for applications in which the dynamics
are dominated by lightly damped poles, the book describes the
time-delay filter (input shaper) design technique and reviews the
calculus of variations. It then focuses on four control problems:
time-optimal, fuel/time-optimal, fuel limited time-optimal, and
jerk limited time-optimal control. The author explains how the
minimax optimization problem can help in the design of robust
time-delay filters and explores the input-constrained design of
open-loop control profiles that account for friction in the design
of point-to-point control profiles. The final chapter presents
numerical techniques for solving the problem of designing shaped
inputs.
Supplying MATLAB(r) code and a suite of real-world problems,
this book provides a rigorous yet accessible presentation of the
theory and numerical techniques used to shape control system inputs
for achieving precise control when modeling uncertainties exist. It
includes up-to-date techniques for the design of command-shaped
profiles for precise, robust, and rapid point-to-point control of
underdamped systems.
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