Positioning Control System Based on ZPETC and Optimal Control Method for Plant with Dead-Time

Abstract

In this paper, a method for positioning control based on zero phase error tracking controller (ZPETC), optimal control method for plant with dead-time is proposed. A discrete transformed unstable plant is composed of unstable zeros and poles. In the proposed method, we subject stabilization of a plant by optimal control method, compose inverse model of a system with unstable zeros by ZPETC and control a plant with dead-time by predicted-state feedback technique and modified smith predictor composed of a predictor and an observer. In addition, optimal control method achieves good robustness for modeling errors by adjusting the weight of the LQR-scheme. The simulation studies and the experimental result, it is shown that the proposed method is effective for these plants and DC motor.