A Combination of Feedforward and Feedback Control for Mechatronic Applications

Richard Stadlmayr

A Combination of Feedforward and Feedback Control for Mechatronic Applications

Richard Stadlmayr

Institute of Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

This contribution is about the combination of a feedforward and a feedback controller for mechatronic systems in order to stabilize the trajectories of a nonlinear plant. It is the goal to derive a control law such that the system output follows a given reference curve. Port-Hamiltonian systems provide some special mathematical properties and have turned out beneficial for the stability analysis. The combination of a feedforward and feedback controller achieves good tracking and disturbance rejection at the same time. An extension of the IDA-PBC approach allows us to deal with constrained measurements.

Original language	English
Title of host publication	4th European Conference on Structural Control (ECSC)
Pages	829-849
Number of pages	11
Volume	2
Publication status	Published - 2008

Fields of science

101028 Mathematical modelling
202 Electrical Engineering, Electronics, Information Engineering
202003 Automation
202017 Embedded systems
202027 Mechatronics
202034 Control engineering
203015 Mechatronics

Cite this

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abstract = "This contribution is about the combination of a feedforward and a feedback controller for mechatronic systems in order to stabilize the trajectories of a nonlinear plant. It is the goal to derive a control law such that the system output follows a given reference curve. Port-Hamiltonian systems provide some special mathematical properties and have turned out beneficial for the stability analysis. The combination of a feedforward and feedback controller achieves good tracking and disturbance rejection at the same time. An extension of the IDA-PBC approach allows us to deal with constrained measurements.",

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AB - This contribution is about the combination of a feedforward and a feedback controller for mechatronic systems in order to stabilize the trajectories of a nonlinear plant. It is the goal to derive a control law such that the system output follows a given reference curve. Port-Hamiltonian systems provide some special mathematical properties and have turned out beneficial for the stability analysis. The combination of a feedforward and feedback controller achieves good tracking and disturbance rejection at the same time. An extension of the IDA-PBC approach allows us to deal with constrained measurements.

M3 - Conference proceedings

SN - 978-5-904045-10-4

VL - 2

SP - 829

EP - 849

BT - 4th European Conference on Structural Control (ECSC)

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