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Two‐Stage Tracking Control Via Output Feedback
Author(s) -
Wu ShangTeh
Publication year - 2002
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.2002.tb00358.x
Subject(s) - control theory (sociology) , internal model , observer (physics) , trajectory , tracking (education) , controller (irrigation) , control (management) , transient (computer programming) , computer science , high gain antenna , engineering , control engineering , physics , artificial intelligence , psychology , pedagogy , electrical engineering , quantum mechanics , astronomy , agronomy , biology , operating system
An algorithm is proposed combining a high‐gain control and an internal‐model control for asymptotic output tracking in the presence of non‐decaying external disturbances. The plant output is the only signal used in the feedback loops. The algorithm is divided into two stages: high‐gain control is activated in the transient phase, forcing the output to quickly approach the reference trajectory, and is then taken over by an internal‐model controller in the steady phase so that perfect output tracking can be achieved with moderate gains and smooth control efforts. Smooth transition between the two control laws is ensured through an internal‐model observer, which serves as a relaying mechanism between the high‐gain control and the internal‐model control.