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Method for Undershoot-Less Control of Non-Minimum Phase Plants Based on Partial Cancellation of the Non-Minimum Phase Zero: Application to Flexible-Link Robots
As a well understood classical fact, non- minimum phase zeros of the process
located in a feedback connection cannot be cancelled by the corresponding poles
of controller since such a cancellation leads to internal instability. This
impossibility of cancellation is the source of many limitations in dealing with
the feedback control of non-minimum phase processes. The aim of this paper is
to study the possibility and usefulness of partial (fractional-order)
cancellation of such zeros for undershoot-less control of non-minimum phase
processes. In this method first the non-minimum phase zero of the process is
cancelled to an arbitrary degree by the proposed pre-compensator and then a
classical controller is designed to control the series connection of these two
systems. Since plants with multiple non-minimum phase zeros and oscillatory
poles are very common in the problems related to robotics, the proposed method
is applied to these systems to confirm its effectiveness.Comment: This paper is presented in the International Conference on Electrical
and Computer Engineering (ICECE2013), 26-28 September 2013, Istanbul Royal
Hotel, Turke