TY - GEN
T1 - Flatness-based deadbeat control revisited
T2 - 2013 1st American Control Conference, ACC 2013
AU - Stumper, Jean Francois
AU - Hagenmeyer, Veit
AU - Kuehl, Sascha
AU - Kennel, Ralph
PY - 2013
Y1 - 2013
N2 - The present contribution introduces an extension of deadbeat control applied to flat nonlinear systems in order to make it more robust while not compromising its performance. Conventional deadbeat control is shown to be based on feedback linearization and highly sensitive to uncertainties. So far, the only remedies are to tune the deadbeat controller and the according disturbance estimator more slowly. It is shown that by using feedforward linearization instead, the parametric sensitivity is considerably reduced. A generalized controller, a mix between feedback and feedforward linearization, is proposed. The result is a deadbeat controller with both high dynamic performance and high robustness. The experimental results on an induction machine demonstrate very fast reference tracking, high robustness to typical parameter uncertainties and active compensation of time-varying disturbances.
AB - The present contribution introduces an extension of deadbeat control applied to flat nonlinear systems in order to make it more robust while not compromising its performance. Conventional deadbeat control is shown to be based on feedback linearization and highly sensitive to uncertainties. So far, the only remedies are to tune the deadbeat controller and the according disturbance estimator more slowly. It is shown that by using feedforward linearization instead, the parametric sensitivity is considerably reduced. A generalized controller, a mix between feedback and feedforward linearization, is proposed. The result is a deadbeat controller with both high dynamic performance and high robustness. The experimental results on an induction machine demonstrate very fast reference tracking, high robustness to typical parameter uncertainties and active compensation of time-varying disturbances.
UR - http://www.scopus.com/inward/record.url?scp=84883510735&partnerID=8YFLogxK
U2 - 10.1109/acc.2013.6580100
DO - 10.1109/acc.2013.6580100
M3 - Conference contribution
AN - SCOPUS:84883510735
SN - 9781479901777
T3 - Proceedings of the American Control Conference
SP - 1822
EP - 1827
BT - 2013 American Control Conference, ACC 2013
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 17 June 2013 through 19 June 2013
ER -