Trajectory tracking through a controller based on feedforward, status feedback and integrated action
Abstract
This manuscript presents a trajectory-tracking controller applied to a simple pendulum. The mathematical model of the plant has
the restriction that the gravitational torques are assumed to be unknown. The proposed control scheme is based on a feedforward
technique for time-varying trajectory tracking, which complements a state feedback controller plus an integral control action.
The state feedback control includes an integral action for compensation of the gravitational torque in the system. The tuning of
the control gains is performed using the pole placement method by proposing a stable Hurwitz polynomial. The control scheme
improves the performance of the system in the face of time-varying references and can attenuate the effects of disturbances. The
results obtained via simulation illustrate the effectiveness of the proposed control scheme.
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References
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