Feedforward Design and Optimality Aspects for the Control of Mechatronic Systems | Zendy

Stadlmayr Richard | Zendy; Gahleitner Reinhard | Zendy

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Feedforward Design and Optimality Aspects for the Control of Mechatronic Systems

Author(s) -

Stadlmayr Richard,

Gahleitner Reinhard

Publication year - 2011

Publication title -

pamm

Language(s) - English

Resource type - Journals

ISSN - 1617-7061

DOI - 10.1002/pamm.201110406

Subject(s) - feed forward , mechatronics , control theory (sociology) , control engineering , computer science , controller (irrigation) , trajectory , control (management) , engineering , artificial intelligence , physics , agronomy , astronomy , biology

This paper considers the tracking controller design for a mechatronic handling system. The presented approach is based on Port‐Hamiltonian systems and it achieves good tracking as well as good disturbance rejection based on a polynomial approach. A PBC controller stabilizes the trajectory and the feedforward part has to fulfill the given limitations and the time optimality. This approach avoids the solution of a boundary value problem and a real‐time integration of the internal dynamics. (© 2011 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)

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