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Veit Hagenmeyer, Michael Zeitz

Flatness-based Design of Linear and Nonlinear Feedforward Controls

Model-based feedforward control is used to obtain a better tracking performance of the control loop. Nominal feedforwards need the inverse model of the plant. The related problems of realizibility of a feedforward control and of its instability in case of non-minimum-phase systems are solved for flat systems. Thereby, the desired trajectories are planned in the coordinates of the flat output. The flatness-based design of linear and nonlinear feedforward control is exemplarily explained for a transition between two equilibrium points of SISO systems and illustrated by discussion of simple examples.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 52, 01/2004
Pages: 003

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