Efficient fixed-point realization of approximate dynamic inversion compensators for non-minimum phase systems

摘要

This paper considers a fixed-point realization of approximate stable inversion of systems with non-minimum phase zeros. It is based on the efficient linear phase IIR filter implementation first introduced by Powell and Chau. The proposed filter is used in inversion based feedforward tracking and repetitive controllers which is realized by a Field Programmable Gate Array to control a piezoelectric actuator and generate precise dynamic high bandwidth motion at a 100 kHZ sampling rate.