Output tracking control of a one-link flexible manipulator via causal inversion

@article{Wang2006OutputTC,
  title={Output tracking control of a one-link flexible manipulator via causal inversion},
  author={Xuezhen Wang and Degang Chen},
  journal={IEEE Transactions on Control Systems Technology},
  year={2006},
  volume={14},
  pages={141-148}
}
Output tracking control is a challenging problem. This paper introduces a new design procedure for output tracking control of nonminimum phase systems. This new controller achieves stable /spl epsi/-tracking of a reference profile given in real time via a causal inversion approach. In this approach, the nonminimum phase system is first stably inverted on-line to obtain both desired (and stable) state and input trajectories. Then an H/sub /spl infin// optimal controller is used to stabilize the… CONTINUE READING

Citations

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