Feedforward control of LTI system with uncertainty and disturbance

Sergei Basovich, Shai Arogeti

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents a control scheme for a linear time invariant (LTI) system with uncertainty and disturbance, which are not assumed to be matched with the control input. The presented control scheme consists of a stabilizing feedback controller and a newly developed feed forward mechanism, which counteracts the uncertainty and disturbance through the reference path. In contrast to the related control methods, such as time delay control (TDC) and uncertainty and disturbance estimation (UDE) based control, the scheme presented in this paper does not impose any structural constraints on the controlled plant. The presented control scheme was verified experimentally using a flexible mechanical testbed with a poorly damped resonance.

Original languageAmerican English
Title of host publication2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
ISBN (Electronic)9781509035496
DOIs
StatePublished - 1 Jan 2016
Event14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016 - Phuket, Thailand
Duration: 13 Nov 201615 Nov 2016

Publication series

Name2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016

Conference

Conference14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
Country/TerritoryThailand
CityPhuket
Period13/11/1615/11/16

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Optimization
  • Instrumentation
  • Computer Vision and Pattern Recognition

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