Studies on Robustness of Trajectory Adaptive ZPETC with Application to Electro-Hydraulic Actuator

Abstract

Mostly modern mechanical systems have becoming an expanding field in industrial applications which require the support of precision motion control strategies. This paper is on the studies of robustness of trajectory adaptive ZPETC to discrete-time plant model that having a non-minimum phase zero very near to unity circle. This model was obtained from open-loop experiment of Electro-Hydraulic actuator using 50 ms sampling-time. This would contribute significant challenges in designing suitable feedforward controller since this model is very difficult to control. This is due to the non-minimum phase zero of this kind is producing slow decaying transient response. The ZPETC controller that does not require the factorization of zeros polynomial was used in the studies. Simulation results of the studies had shown better tracking and controls as compare to the conventional ZPETC. The simulation works were also validated via real-time control of hydraulic actuator.