Relevant bibliographies by topics / Feedforward control loop

Academic literature on the topic 'Feedforward control loop'

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Published: 4 June 2021
Last updated: 28 January 2023

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Journal articles on the topic "Feedforward control loop"

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Wei, Kang, Xin Xu, Yu Shu Deng, Jin Xing Chu, and Lu Yang. "Research and Implementation of High-Speed Positioning Control Base on Feedforward PID Control." Advanced Materials Research 940 (June 2014): 370–74. http://dx.doi.org/10.4028/www.scientific.net/amr.940.370.

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Feedforward PID control of the current loop and speed loop based on the three closed loop PID servo control system was introduced here to improve the intermittent rotary positioning performance of the pick-and-place system. Feedforward PID control [1] is better than traditional PID control on command signal tracking under high-speed positioning control, which has been proved by Simulink simulation.
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Zhou, Hua, Lu Yu Wang, and Wei Chang. "A Design of Loop Control Method for Feedforward Power Amplifier." Advanced Materials Research 588-589 (November 2012): 731–34. http://dx.doi.org/10.4028/www.scientific.net/amr.588-589.731.

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This letter delivered an analysis and design method of signal cancellation loop for feedforward power amplifier. To begin with the inherent defects of feedforward amplifier, it stated the merits and drawbacks of existing feedforward amplifier loop control methods, then put forward a new signal cancellation loop control method, namely separating amplitude feedback and phase feedback in signal cancellation loop, then advanced the theoretical analysis and calculation. The result of theoretical calculation was in line with the outcome of simulation, which confirmed through ADS (Advanced Design System) simulation. This method has multiple advantages: high feedback convergence rate, readily implementation and high linearity.
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Tomizuka, Masayoshi. "Zero Phase Error Tracking Algorithm for Digital Control." Journal of Dynamic Systems, Measurement, and Control 109, no. 1 (March 1, 1987): 65–68. http://dx.doi.org/10.1115/1.3143822.

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A digital feedforward control algorithm for tracking desired time varying signals is presented. The feedforward controller cancels all the closed-loop poles and cancellable closed-loop zeros. For uncancellable zeros, which include zeros outside the unit circle, the feedforward controller cancels the phase shift induced by them. The phase cancellation assures that the frequency response between the desired output and actual output exhibits zero phase shift for all the frequencies. The algorithm is particularly suited to the general motion control problems including robotic arms and positioning tables. A typical motion control problem is used to show the effectiveness of the proposed feedforward controller.
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Sun, Zhenxing, Shihua Li, Jiegao Wang, Xinghua Zhang, and Xiaohui Mo. "Adaptive composite control method of permanent magnet synchronous motor systems." Transactions of the Institute of Measurement and Control 40, no. 11 (September 21, 2017): 3345–57. http://dx.doi.org/10.1177/0142331217719956.

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With the development of digital signal processes, the relative differences of PMSM single loop in control periods between the speed loop and current loops are becoming smaller or even vanishing. Therefore, cascade control schemes seem to be unnecessary. In addition, considering the effects of disturbances and the variety of moments of inertia, this paper proposes a scheme using an adaptive non-cascade control method to design the controller, which merges speed loop and q-axis current loop into one single loop. First, an extended state observer (ESO) is employed to estimate the disturbances of the system. The estimated value is used in the feedforward compensation design to improve the capability of system anti-disturbance. Then, considering the performance degradation caused by inertia change, an adaptive control scheme is developed. By using inertia identification technology, the feedforward compensation gain can be tuned automatically according to the identification value. Several groups of simulations and experiments are carried out and the results demonstrate the effectiveness of the proposed scheme.
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Wang, Jian, Hendrik Van Brussel, and Jan Swevers. "Robust Perfect Tracking Control With Discrete Sliding Mode Controller." Journal of Dynamic Systems, Measurement, and Control 125, no. 1 (March 1, 2003): 27–32. http://dx.doi.org/10.1115/1.1540994.

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The closed-loop transfer function of a plant controlled with a classical feedback controller, depends on the dynamics of the plant. Since most feedforward tracking controllers are designed based on this closed-loop transfer function, they are not robust against plant model uncertainties. Sliding-mode controllers have the property that when the system is on the switching line, the closed-loop behavior is independent of the plant dynamics. As a result, it can be expected that a feedforward control design based on this closed-loop behavior is robust against plant model uncertainties. This paper studies this feedforward robustness issue in detail and verifies the results on an experimental test setup: a stage driven by a linear motor. An integrated procedure is proposed in designing the closed-loop discrete-time sliding mode controller using the reaching law method.
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Meaburn, A., and F. M. Hughes. "Feedforward Control of Solar Thermal Power Plants." Journal of Solar Energy Engineering 119, no. 1 (February 1, 1997): 52–60. http://dx.doi.org/10.1115/1.2871838.

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In recent years the problem of controlling the temperature of oil leaving an array of parabolic trough collectors has received much attention. The control schemes developed have in general utilized a feedback control loop combined with feedforward compensation. The majority of the published papers place the emphasis almost entirely on the design of the feedback control loop. Little or no attention has been paid to issues involved in the design of the feedforward controller. This paper seeks to redress this imbalance by concentrating upon the design and development of a feedforward controller for the ACUREX distributed solar collector field at the Plataforma Solar de Almeria. Different methods of combining feedback and feedforward will be assessed and experimental results will be presented in order to support any theoretical observations made.
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Tsao, Tsu-Chin, and Masayoshi Tomizuka. "Adaptive Zero Phase Error Tracking Algorithm for Digital Control." Journal of Dynamic Systems, Measurement, and Control 109, no. 4 (December 1, 1987): 349–54. http://dx.doi.org/10.1115/1.3143866.

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This paper describes an adaptive feedforward controller to let the output of a plant with stable and unstable zeros track a time varying desired output. The dynamics of the closed loop system consisting of the plant and the feedback controller are assumed unknown or slowly varying due to changes on the plant parameters. In the control scheme proposed in this paper, the feedforward controller is adaptive while the feedback controller is fixed under the assumption that the closed loop system remains stable at all times. With a few samples of future reference input data available, the preview action of the adaptive feedforward controller cancels the phase lag caused by the closed loop dynamics and attains the zero phase error tracking performance (i.e., the plant output is in phase with any sinusoidal desired output) asymptotically.
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Clark, Robert L. "A Hybrid Autonomous Control Approach." Journal of Dynamic Systems, Measurement, and Control 117, no. 2 (June 1, 1995): 232–40. http://dx.doi.org/10.1115/1.2835184.

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A hybrid autonomous control approach for active damping and control of a persistent disturbance is presented. Direct velocity feedback control is coupled with an adaptive feedforward controller to minimize the transient response and that due to a persistent disturbance, respectively. A time-averaged gradient descent algorithm was selected to adapt the feedforward filter, rendering the controller model-insensitive and thus autonomous for the chosen application. The feedback control loop serves to increase the damping of the controlled structure, decreasing the convergence time associated with the adaptive feedforward filter. Thus the integration of the two control approaches affords increases in performance previously not possible with the adaptive feedforward controller alone.
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Yang, Ying, Jing Yuan, and Hu Zhang. "Regulator Design of Vector Control System." Advanced Materials Research 383-390 (November 2011): 7082–89. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.7082.

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A Decoupling method based on feedforward voltage compensation is adopted to eliminate completely the coupling between exciting current and torque current. Based on conventional design methods of single-variable linear system , the paper analyses and designs detailedly the flux loop, speed loop and current loop. A design method based on double closed-loop PI regulator for speed sensorless vector control system is proposed. Through experimental results, we demonstrate its good performance.
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Lee, Kyeong Ha, Seung Guk Baek, Hyouk Ryeol Choi, Hyungpil Moon, Sang-Hoon Ji, and Ja Choon Koo. "Feedforward model-inverse position control of three-stage servo-valve using zero magnitude error tracking control." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 7 (July 5, 2018): 2340–48. http://dx.doi.org/10.1177/0954406218786533.

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Three-stage servo-valves are popularly used in hydraulic systems that require large flow rate and high pressure. For a proper control of flow direction and flow rate fed into a hydraulic actuator, securing a proper position control bandwidth is a critical task for the servo-valve. In this paper, a set of popular control methods are systematically studied and a control method is selected. It is proven that the feedforward model-inverse control is the most effective method in terms of the control bandwidth. In the present work, the feedforward closed-loop architecture is adopted and the closed-loop system is estimated in a linear discrete-time transfer function by recursive least squares method. On recognizing a nonminimum phase zero problem, this work implements the zero magnitude error tracking control, an approximate model-inverse technique, in order to overcome the problem. As a result, the effectiveness of the proposed feedforward model-inverse position control strategy is verified.
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Dissertations / Theses on the topic "Feedforward control loop"

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Lam, Ping Koy, and Ping Lam@anu edu au. "Applications of Quantum Electro-Optic Control and Squeezed Light." The Australian National University. Faculty of Science, 1999. http://thesis.anu.edu.au./public/adt-ANU20030611.170800.

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In this thesis, we report the observations of optical squeezing from second harmonic generation (SHG), optical parametric oscillation (OPO) and optical parametric amplification (OPA). Demonstrations and proposals of applications involving the squeezed light and electro-optic control loops are presented. ¶ In our SHG setup, we report the observation of 2.1 dB of intensity squeezing on the second harmonic (SH) output. Investigations into the system show that the squeezing performance of a SHG system is critically affected by the pump noise and a modular theory of noise propagation is developed to describe and quantify this effect. Our experimental data has also shown that in a low-loss SHG system, intra-cavity nondegenerate OPO modes can simultaneously occur. This competition of nonlinear processes leads to the optical clamping of the SH output power and in general can degrade the SH squeezing. We model this competition and show that it imposes a limit to the observable SH squeezing. Proposals for minimizing the effect of competition are presented. ¶ In our OPO setup, we report the observation of 7.1 dB of vacuum squeezing and more than 4 dB of intensity squeezing when the OPO is operating as a parametric amplifier. We present the design criteria and discuss the limits to the observable squeezing from the OPO.We attribute the large amount of squeezing obtained in our experiment to the high escape efficiency of the OPO. The effect of phase jitter on the squeezing of the vacuum state is modeled. ¶ The quantum noise performance of an electro-optic feedforward control loop is investigated. With classical coherent inputs, we demonstrate that vacuum fluctuations introduced at the beam splitter of the control loop can be completely cancelled by an optimum amount of positive feedforward. The cancellation of vacuum fluctuations leads to the possibility of noiseless signal amplification with the feedforward loop. Comparison shows that the feedforward amplifier is superior or at least comparable in performance with other noiseless amplification schemes. When combined with an injection-locked non-planar ring Nd:YAG laser, we demonstrate that signal and power amplifications can both be noiseless and independently variable. ¶ Using squeezed inputs to the feedforward control loop, we demonstrate that information carrying squeezed states can be made robust to large downstream transmission losses via a noiseless signal amplification. We show that the combination of a squeezed vacuum meter input and a feedforward loop is a quantum nondemolition (QND) device, with the feedforward loop providing an additional improvement on the transfer of signal. In general, the use of a squeezed vacuum meter input and an electro-optic feedforward loop can provide pre- and post- enhancements to many existing QND schemes. ¶ Finally, we proposed that the quantum teleportation of a continuous-wave optical state can be achieved using a pair of phase and amplitude electro-optic feedforward loops with two orthogonal quadrature squeezed inputs. The signal transfer and quantum correlation of the teleported optical state are analysed. We show that a two dimensional diagram, similar to the QND figures of merits, can be used to quantify the performance of a teleporter.
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Moberg, Stig. "On Modeling and Control of Flexible Manipulators." Licentiate thesis, Linköping University, Linköping University, Automatic Control, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-10463.

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Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot performance, reducing the robot cost, improving safety, and introducing new functionalities. Therefore, there is a need to continuously improve the models and control methods in order to fulfil all conflicting requirements, such as increased performance for a robot with lower weight, and thus lower mechanical stiffness and more complicated vibration modes. One reason for this development of the robot mechanical structure is of course cost-reduction, but other benefits are lower power consumption, improved dexterity, safety issues, and low environmental impact.

This thesis deals with three different aspects of modeling and control of flexible, i.e., elastic, manipulators. For an accurate description of a modern industrial manipulator, the traditional flexible joint model, described in literature, is not sufficient. An improved model where the elasticity is described by a number of localized multidimensional spring-damper pairs is therefore proposed. This model is called the extended flexible joint model. This work describes identification, feedforward control, and feedback control, using this model.

The proposed identification method is a frequency-domain non-linear gray-box method, which is evaluated by the identification of a modern six-axes robot manipulator. The identified model gives a good description of the global behavior of this robot.

The inverse dynamics control problem is discussed, and a solution methodology is proposed. This methodology is based on a differential algebraic equation (DAE) formulation of the problem. Feedforward control of a two-axes manipulator is then studied using this DAE approach.

Finally, a benchmark problem for robust feedback control of a single-axis extended flexible joint model is presented and some proposed solutions are analyzed.

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Airimitoaie, Tudor-Bogdan. "Commande robuste et calibrage des systèmes de contrôle actif de vibrations." Thesis, Grenoble, 2012. http://www.theses.fr/2012GRENT015/document.

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Dans cette thèse, nous présentons des solutions pour la conception des systèmes de contrôle actif de vibrations. Dans la première partie, des méthodes de contrôle par action anticipatrice (feedforward) sont développées. Celles-ci sont dédiées à la suppression des perturbations bande large en utilisant une image de la perturbation mesurée par un deuxième capteur, en amont de la variable de performance à minimiser. Les algorithmes présentés dans cette mémoire sont conçus pour réaliser de bonnes performances et maintenir la stabilité du système en présence du couplage positif interne qui apparaît entre le signal de commande et l'image de la perturbation. Les principales contributions de cette partie sont l'assouplissement de la condition de « Stricte Positivité Réelle » (SPR) par l'utilisation des algorithmes d'adaptation « Intégrale + Proportionnelle » et le développement de compensateurs à action anticipatrice (feedforward) sur la base de la paramétrisation Youla-Kučera. La deuxième partie de la thèse concerne le rejet des perturbations bande étroite par contre-réaction adaptative (feedback). Une méthode d'adaptation indirecte est proposée pour le rejet de plusieurs perturbations bande étroite en utilisant des filtres Stop-bande et la paramétrisation Youla-Kučera. Cette méthode utilise des Filtres Adaptatifs à Encoche en cascade pour estimer les fréquences de perturbations sinusoïdales puis des Filtres Stop-bande pour introduire des atténuations aux fréquences estimées. Les algorithmes sont vérifiés et validés sur un dispositif expérimental disponible au sein du département Automatique du laboratoire GIPSA-Lab de Grenoble
In this thesis, solutions for the design of robust Active Vibration Control (AVC) systems are presented. The thesis report is composed of two parts. In the first one, feedforward adaptive methods are developed. They are dedicated to the suppression of large band disturbances and use a measurement, correlated with the disturbance, obtained upstream from the performance variable by the use of a second transducer. The algorithms presented in this thesis are designed to achieve good performances and to maintain system stability in the presence of the internal feedback coupling which appears between the control signal and the image of the disturbance. The main contributions in this part are the relaxation of the Strictly Positive Real (SPR) condition appearing in the stability analysis of the algorithms by use of “Integral + Proportional” adaptation algorithms and the development of feedforward compensators for noise or vibration reduction based on the Youla-Kučera parameterization. The second part of this thesis is concerned with the negative feedback rejection of narrow band disturbances. An indirect adaptation method for the rejection of multiple narrow band disturbances using Band-Stop Filters (BSF) and the Youla-Kučera parameterization is presented. This method uses cascaded Adaptive Notch Filters (ANF) to estimate the frequencies of the disturbances' sinusoids and then, Band-stop Filters are used to shape the output sensitivity function independently, reducing the effect of each narrow band signal in the disturbance. The algorithms are verified and validated on an experimental setup available at the Control Systems Department of GIPSA-Lab, Grenoble, France
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Carullo, Francesco. "Analysis, simulation and control of the Von Karman vortex street behind a circular cylinder." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.

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This work focuses on studying the 2D wake pattern behind a bluff body/airfoil immersed in a fluid. Within a specific Reynolds number range, a repeating pattern of swirling vortices shows up: the "Von Karman Vortex Street". To suppress Vortex-Induced Vibration which can cause the structure resonating, a suitable control method has to be adopted. Furthermore, this work aims at designing a control technique for a flapping airfoil able to produce the desired "Reverse Von Karman Vortex Street": a thrust-generating wake created by the birds flapping wings.
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Lam, Ping Koy. "Applications of Quantum Electro-Optic Control and Squeezed Light." Phd thesis, 1998. http://hdl.handle.net/1885/47657.

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In this thesis, we report the observations of optical squeezing from second harmonic generation (SHG), optical parametric oscillation (OPO) and optical parametric amplification (OPA). Demonstrations and proposals of applications involving the squeezed light and electro-optic control loops are presented. ¶ ...
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Book chapters on the topic "Feedforward control loop"

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Grimble, Michael J., and Paweł Majecki. "Open-Loop and Feedforward Nonlinear Control." In Nonlinear Industrial Control Systems, 129–58. London: Springer London, 2020. http://dx.doi.org/10.1007/978-1-4471-7457-8_3.

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Lurie, Boris J., and Paul J. Enright. "Feedforward, Multi-Loop, and MIMO Systems." In Classical Feedback Control with Nonlinear Multi-Loop Systems, 35–56. Third edition. | Boca Raton : Taylor & Francis, CRC Press, [2020] |: CRC Press, 2019. http://dx.doi.org/10.1201/9781351011853-2.

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Guzmán, José Luis, Tore Hägglund, and Antonio Visioli. "Feedforward Compensation for PID Control Loops." In PID Control in the Third Millennium, 207–34. London: Springer London, 2012. http://dx.doi.org/10.1007/978-1-4471-2425-2_7.

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Wang, Min, Songquan Liao, Xuan Fang, and Shibo Fu. "Active Vibration Suppression Based on Piezoelectric Actuator." In Piezoelectric Actuators [Working Title]. IntechOpen, 2022. http://dx.doi.org/10.5772/intechopen.103725.

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The piezoelectric constitutive equation states that the inverse piezoelectric effect can convert electrical energy into mechanical energy, resulting in small displacement and force changes with high resolution. The piezoelectric actuator based on inverse piezoelectric effect has an excellent performance in active vibration suppression because of its high frequency response, high positioning accuracy, and large output force. A new active-passive composite vibration suppression system can be formed by cascading it with passive vibration isolation elements in series and parallel. On this basis, by adding different control algorithms and control loops, such as the Sky-Hook damping feedback control algorithm and adaptive feedforward control algorithm, different vibration control effects can be realized.
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Capmany, José, and Daniel Pérez. "Integrated Waveguide Meshes." In Programmable Integrated Photonics, 141–77. Oxford University Press, 2020. http://dx.doi.org/10.1093/oso/9780198844402.003.0005.

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Integrated waveguide meshes are the third evolutionary step in programmable photonics, and rely on the large-scale repetition of interferometric waveguide elements and phase actuators conceived and designed to implement a common hardware platform that enables the programming of arbitrary photonic circuit topologies and design parameters by suitable setting of its control signals. In contrast to linear feedforward-only programmable circuits, these circuits enable the synthesis of optical cavities, optical loops and feedbackward paths. Their improved versatility entails a paradigm shift regarding the development of application-specific photonic integrated circuits. Here, the long and costly test cycles can be potentially substituted by off-the-shelf ready-to-use circuits. This allows them to be applied to myriad systems requiring optical linear processing and dynamic configuration. This chapter introduces the basic design principles and the implementations of the most popular designs. It then provides a comparative analysis of alternative waveguide mesh arrangements and their performance evaluation.
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Conference papers on the topic "Feedforward control loop"

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Stanciu, R., and P. Y. Oh. "Feedforward control for human-in-the-loop camera systems." In IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. IEEE, 2004. http://dx.doi.org/10.1109/robot.2004.1307120.

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Sen, Shaunak, Jongmin Kim, and Richard M. Murray. "Designing robustness to temperature in a feedforward loop circuit." In 2014 IEEE 53rd Annual Conference on Decision and Control (CDC). IEEE, 2014. http://dx.doi.org/10.1109/cdc.2014.7040112.

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Huang, Weichao, and Ding Liu. "Dual Loop Feedforward Control for Czochralski Silicon Single Crystal Growth." In 2018 Chinese Automation Congress (CAC). IEEE, 2018. http://dx.doi.org/10.1109/cac.2018.8623441.

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Otten, Richard, and Andrew G. Alleyne. "Scheduled Feedforward Control of Superheat Through Hardware-in-the-Loop Load Emulation." In ASME 2010 Dynamic Systems and Control Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/dscc2010-4095.

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Variable speed refrigeration systems have the potential for improved energy savings compared to conventional on-off systems. A single-input-single-output (SISO) control structure does not adequately regulate control parameters due to strong coupling inherent to the vapor compression cycle (VCC). With the use of an electronic expansion valve (EEV) a feedforward control configuration may be implemented to remove the effects of compressor speed changes on evaporator superheat, thus allowing better regulation during transients. Due to the nonlinearity of the VCC a scheduled feedforward compensator is proposed to effectively reject a compressor disturbance over the wide range of operating conditions typically experienced by variable speed systems. The proposed control structure allows superheat regulation at a low level without risking compressor damage, therefore helping maximize system efficiency. This paper presents experimental results obtained through load emulation. This is a novel approach which performs a task similar to the automotive dynamometer, where various size loads and environmental conditions may be placed on a VCC through an on-line experimental simulation.
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Jetto, Leopoldo, and Valentina Orsini. "Robust two-degree-of freedom control optimally balancing feedforward plant inversion and feedforward closed loop inversion." In IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society. IEEE, 2021. http://dx.doi.org/10.1109/iecon48115.2021.9589503.

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Ilonciak, Jaroslav, Marek Kovac, Gabriel Kacsor, Zdeno Biel, Marek Franko, and Jozef Buday. "Feedforward control structure with adaptive feedback loop of step down converter." In 2020 ELEKTRO. IEEE, 2020. http://dx.doi.org/10.1109/elektro49696.2020.9130271.

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Boeren, Frank, and Tom Oomen. "Iterative feedforward control: a closed-loop identification problem and a solution." In 2013 IEEE 52nd Annual Conference on Decision and Control (CDC). IEEE, 2013. http://dx.doi.org/10.1109/cdc.2013.6760949.

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Qiu, Hongchu, Qin Zhang, John F. Reid, and Duqiang Wu. "Nonlinear Feedforward-Plus-PID Control for Electrohydraulic Steering Systems." In ASME 1999 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/imece1999-0774.

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Abstract This paper presents the development of a nonlinear feedforward-plus-Proportional-Integral-Derivative (FPID) controller for electrohydraulic (E/H) steering on wheel-type tractors. An E/H steering system is a typical nonlinear system with deadband, saturation, asymmetric flow gain, time delay, and other nonlinear behaviors. Conventional PID controllers are incapable of achieving accurate steering control effectively on such nonlinear systems. In this research, an FPID controller was developed for effective and accurate steering control. The feedforward loop in this controller was designed to compensate for the deadband of the E/H system. The PID loop was designed to compensate the tracking error in steering control. A coordinated nonlinear gain function was designed to change the PID loop gain based on the level of the tracking error. This FPID controller has significantly improved the steering accuracy comparing with that from a PID controller. Test results showed that the maximum tracking error in steering angle was less than 0.5° corresponding to a sinusoid steering command of ±5° at the command frequency of 0.1 Hz. The maximum overshoot was less than 12% and the rise time was less than 0.25 s corresponding to a steering command of 5° step input. This FPID controller achieved effective and accurate steering control on agricultural tractor E/H steering systems.
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Noury, Keyvan, and Bingen Yang. "Analytical Statistical Study of Linear Parallel Feedforward Compensators for Nonminimum-Phase Systems." In ASME 2019 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/dscc2019-9126.

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Abstract In this work, a new parallel feedforward compensator for the feedback loop of a linear nonminimum-phase system is introduced. Then, analytical statistical arguments between the existing developed methods and the innovated method are brought. The compelling arguments suggest the parallel feedforward compensation with derivative (PFCD) method is a strong method even though at its first survey it seems to be optimistic and not pragmatic. While most of the existing methods offer an optimal integral of squared errors (ISE) for the closed-loop response of the nominal plant, the PFCD offers a finite ISE; in reality, typically, the nominal plant is not of main concern in the controller design and the performance in the presence of mismatch model, noise, and disturbance has priority. In this work, there are several arguments brought to bold the importance of the innovated PFCD design. Also, there is a closed-loop design example to show the PFCD effectiveness in action.
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Noury, Keyvan, and Bingen Yang. "Class of Stabilizing Parallel Feedforward Compensators for Nonminimum-Phase Systems." In ASME 2019 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/dscc2019-9240.

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Abstract In this work, the properties of the class of parallel feedforward compensators to stabilize linear closed-loop systems are studied. The characteristic equation and its root locus behavior, including its asymptotes, are investigated to leave out the compensators that will not result in a stable closed-loop system. Even though there have been numerous studies relevant to parallel feedforward compensation that result in the optimal integration of squared errors (ISE), the broader view of all possible compensators has not been of much interest in the literature. Nevertheless, this study is important because, in the presence of noise and disturbance, an optimal ISE control design for the nominal plant may perform poorly while a finite ISE design may have a robust and efficient performance. One of such class compensators is parallel feedforward compensator with derivative effort (PFCD) that for a vast number of processes can have impressive properties such as no branch comebacks to the right half plane (RHP) of the root locus plot (LHP black hole effect). The example in this paper shows how effectively PFCD can contract the root locus branches into the LHP.
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