Deadbeat Controller with Two Additional Steps

Leonas Balasevicius, Virginijus Baranauskas, Gintaras Dervinis, Alma Derviniene


An nth-order closed-loop hybrid system will exhibit a deadbeat response if the system output approaches the reference input in n steps. This paper studies the problem of obtaining a deadbeat response for an nth-order single-input single-output plant (process) in n + 2 steps with a minimum deadbeat controller output deviation from the steady state value. We identify the requirements for the design of a deadbeat controller with two additional steps and present worked examples for the problem. A deadbeat controller is then used to control a piezoelectric micro-robot model. The second order continuous transfer function is used to simulate the robot’s piezoelectric actuator. This research presents the advantages of a deadbeat controller with two additional steps when applied to a robot control problem.



Control design; deadbeat control; digital control; robot control

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Print ISSN: 1392-1215
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