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MIMO multirate feedforward controller design with selection of input multiplicities and intersample behavior analysis |
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| Affiliation: | 1. Chassis Systems Control - Automated Driving (Vehicle Motion Control), Robert Bosch GmbH, 74232 Abstatt, Germany;2. Corporate Research (Control Engineering), Robert Bosch GmbH, 71272 Renningen, Germany;3. Chair of Automatic Control, Friedrich Alexander University Erlangen-Nürnberg, 91058 Erlangen, Germany;1. Department of Engineering and Architecture, University of Parma, Parma 43124, Italy;2. ASK Industries S.p.A., 42124 Reggio Emilia, Italy;1. Dipartimento di Ingegneria Civile e Ingegneria Informatica, Università di Roma “Tor Vergata”, Roma 00133, Italy;2. Istituto di Analisi dei Sistemi ed Informatica “A. Ruberti”, Consiglio Nazionale delle Ricerche (IASI-CNR), Roma 00185, Italy |
| Abstract: | Inversion-based feedforward control is a basic method of tracking controls. The aim of this paper is to design MIMO multirate feedforward controller that improves continuous-time tracking performance in MIMO LTI systems considering not only on-sample but also intersample behavior. Several types of MIMO multirate feedforward controllers are designed and evaluated in terms of the 2-norm of the control inputs. The approach is compared with a conventional MIMO single-rate feedforward controller in simulations. The approach improves the intersample behavior through the optimal selection of input multiplicities with MIMO multirate system inversion. |
| Keywords: | Feedforward control Inverse system Multirate Multi-input/multi-output systems Digital control Position control |
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