Robustness Analysis of Parallel Feedforward Control With Derivative (PFCD) Method

In this paper, the authors represent the robustness capabilities of their previously implemented parallel feedforward compensator configuration, applicable to nonminimum-phase (NMP) systems. In the previous papers, it was shown how a paralleled feedforward compensator can stabilize a general purpose NMP system with ease. However, the robustness analysis was postponed for a later study. Thus, herein, the robustness capabilities of the proposed configuration in the presence of noise and disturbance are investigated. It will be shown that the main idea behind the stability of the parallel feedforward compensation with derivative (PFCD) methodology comes handy when trying to test for the robustness purposes. At the end, a simulation example is brought to represent the ballparks of the methodology.