Enhanced feedforward control of non-minimum phase systems for tracking predefined trajectory

Abstract

This article proposes a novel feedforward controller for non-minimum phase systems by utilising the preview information of the desired trajectory. The performance of the proposed controller is analysed theoretically and verified through the simulation, including comparison with the optimal zero phase error tracking controller and the preview-based stable inversion. The simulation results show that the proposed controller can gain outstanding performance even if the preview time of the desired trajectory is limited.