Feedforward control of LTI system with uncertainty and disturbance

Sergei Basovich; Shai Arogeti

doi:10.1109/ICARCV.2016.7838850

Feedforward control of LTI system with uncertainty and disturbance

Sergei Basovich, Shai Arogeti

Department of Mechanical Engineering

Ben-Gurion University of the Negev

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	American English
Title of host publication	2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
ISBN (Electronic)	9781509035496
DOIs	https://doi.org/10.1109/ICARCV.2016.7838850
State	Published - 1 Jan 2016
Event	14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016 - Phuket, Thailand Duration: 13 Nov 2016 → 15 Nov 2016

Publication series

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

Conference

Conference	14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
Country/Territory	Thailand
City	Phuket
Period	13/11/16 → 15/11/16

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Control and Optimization
Instrumentation
Computer Vision and Pattern Recognition

Access to Document

10.1109/ICARCV.2016.7838850

Cite this

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title = "Feedforward control of LTI system with uncertainty and disturbance",

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.",

author = "Sergei Basovich and Shai Arogeti",

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year = "2016",

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doi = "10.1109/ICARCV.2016.7838850",

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Basovich, S & Arogeti, S 2016, Feedforward control of LTI system with uncertainty and disturbance. in 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016., 7838850, 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016, 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016, Phuket, Thailand, 13/11/16. https://doi.org/10.1109/ICARCV.2016.7838850

Feedforward control of LTI system with uncertainty and disturbance. / Basovich, Sergei; Arogeti, Shai.
2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016. 2016. 7838850 (2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016).

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

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AU - Arogeti, Shai

PY - 2016/1/1

Y1 - 2016/1/1

N2 - 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.

AB - 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.

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U2 - 10.1109/ICARCV.2016.7838850

DO - 10.1109/ICARCV.2016.7838850

M3 - Conference contribution

T3 - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016

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

T2 - 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016

Y2 - 13 November 2016 through 15 November 2016

ER -

Feedforward control of LTI system with uncertainty and disturbance

Abstract

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Conference

All Science Journal Classification (ASJC) codes

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