English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

As a well understood classical fact, non- minimum phase zeros of the processlocated in a feedback connection cannot be cancelled by the corresponding polesof controller since such a cancellation leads to internal instability. Thisimpossibility of cancellation is the source of many limitations in dealing withthe feedback control of non-minimum phase processes. The aim of this paper isto study the possibility and usefulness of partial (fractional-order)cancellation of such zeros for undershoot-less control of non-minimum phaseprocesses. In this method first the non-minimum phase zero of the process iscancelled to an arbitrary degree by the proposed pre-compensator and then aclassical controller is designed to control the series connection of these twosystems. Since plants with multiple non-minimum phase zeros and oscillatorypoles are very common in the problems related to robotics, the proposed methodis applied to these systems to confirm its effectiveness.

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