Deadbeat Controller with Two Additional Steps
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.
Authors retain copyright and grant the journal the right of the first publication with the paper simultaneously licensed under the Creative Commons Attribution 4.0 (CC BY 4.0) licence.
Authors are allowed to enter into separate, additional contractual arrangements for the non-exclusive distribution of the paper published in the journal with an acknowledgement of the initial publication in the journal.
Copyright terms are indicated in the Republic of Lithuania Law on Copyright and Related Rights, Articles 4-37.