Deadbeat Controller with Two Additional Steps

Abstract

An n^th-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.

DOI: http://dx.doi.org/10.5755/j01.eie.23.5.19115