Real-Time Adaptive Feedforward Zero Phase Error Tracking Control For XY Table Minimum Phase And Non-Minimum Phase Systems

摘要

This paper presents the realization of feedforward Zero Phase Error Tracking Control (ZPETC) for real-time XY table application. Using different sampling times in system identification technique, a minimum and non-minimum phase mathematical models can be obtained from input-output experimental data to represent the true plant of the XY table. These two models are used to test the effectiveness of designed controllers. In this paper, two types of feedforward ZPETC controller are developed. Conventional ZPETC intro duced by To mizuka is tested and then the technique is modified by eliminating the factorization of zero polynomials. This is done by changing the gain compensation filter by Finite Impulse Response (FIR) filter. The gain adaptation mechanism is done using Recursive Least Square (RLS) algorithm. The conto ur error is used as indicator for tracking performance effectiveness. The experimental results show that the mo dified controller can effectively enhance the tracking performance of the system and provide superior two dimensional conto ur plots for the XY table for both types of system