The extended pole placement (EPP) method extends the well-known pole placement method to digital servo-control with known control inputs. A servo-control system designed using the EPP method achieves an accurate command response through the use of a noncausal reference model and an accurate approximation of nonminimum-phase zeros. The phase error of the command response between the desired output and the actual output may be made arbitrarily small, while its gain extends uniformly to a selectable bandwidth. A selectable feedforward bandwidth is important in controlling flexible structures where unmodeled resonances might be excited by rough feedforward inputs. Experimental results on a machine tool slide show that a controller designed by the EPP method yields better servo performance for cornering and contour tracking tasks than an E-filter-enhanced zero phase error tracking controller.
Extended Pole Placement Method With Noncausal Reference Model for Digital Servo-Control
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Chen, C., Van Brussel, H., and Swevers, J. (December 1, 1995). "Extended Pole Placement Method With Noncausal Reference Model for Digital Servo-Control." ASME. J. Dyn. Sys., Meas., Control. December 1995; 117(4): 641–644. https://doi.org/10.1115/1.2801127
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