Zero Optimizing Continuous-Time Tracking and Disturbance Rejecting Controllers
| Authors: | Hauksdottir Anna Soffia, University of Iceland, Iceland
Herjolfsson Gisli, University of Iceland, Iceland
Aevarsson Bergthor, University of Iceland, Iceland
Sigurdsson Sven Th., University of Iceland, Iceland |
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| Topic: | 2.2 Linear Control Systems |
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| Session: | Linear Systems I |
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| Keywords: | Linear Continuous-Time Systems, Zero Optimizing Controllers, Tracking, Disturbance Rejection |
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Abstract
The tuning of PID controllers can essentially be posed as theproblem of selecting open-loop zeros such as to obtain a desiredsystem response. In this paper, the general case wherein stableopen-loop system zeros can be cancelled is considered, allowingmore freedom in placing open-loop zeros, as opposed to just twozeros in the case of a PID controller. Subsequently, optimalopen-loop zeros are computed such as to minimize the deviationfrom a desired reference impulse response, while maintaining therelative degree and the type of the reference system, thus givingthe controlled system desired input tracking and disturbancerejection properties.
