Tracking Control of Higher Order Reference Signal Using Integrators and State Feedback

摘要

The purpose of the research is to stabilize a system with a different kind of reference signals such as a unit-ramp, unit-parabolic or higher order signals (Higher Order Reference). The proposed controller consists of state feedback and integrators. State feedback controller makes the system have good performance. Meanwhile, integrators have natural characteristic for eliminating the steady-state error. By using new design of integrators, the system is able to be stable and reach the reference value (tracking control). To design the proposed controller design, the Coefficient Diagram Method (CDM) will be used and the pole location will be examined first to ensure the stability of the system. The design then is validated in simulation by implementing it in some system models, such as triple integrator system, DC motor, and inverted pendulum. The proposed controller design then is compared to PID Ziegler Nichols to evaluate system performances. The result proves that the proposed controller can eliminate steady-state error and stabilize the system with different kind of reference signals within 3 second.