Pole-Zero, Zero-Pole Canceling Input Shapers

2011 ◽  
Vol 134 (1) ◽  
Author(s):  
Tarunraj Singh
Keyword(s):  
Time Delay ◽  
Transfer Function ◽  
Phase Transfer ◽  
Transition Time ◽  
Minimum Phase ◽  
Multiple Modes ◽  
Traditional Technique ◽  
Input Shaper

This paper presents the development of an input-shaper/time-delay filter, which exploits knowledge of the zeros of a minimum-phase transfer function to reduce the output-transition time for a rest-to-rest maneuver problem, compared to the traditional zero vibration (ZV) input shaper. The maneuver time of the robust input shaper presented in this work will correspondingly have a smaller maneuver time compared to the zero vibration derivative (ZVD) input-shaper. The shaped profile is changing with time even after the completion of the maneuver similar to postactuation controllers. All the traditional technique for addressing multiple modes and desensitizing the filter over a specified domain of uncertainties are applicable to the technique presented in this paper.

A Class of Transfer Functions With Non-Negative Impulse Response

1991 ◽  
Vol 113 (2) ◽  
pp. 313-315 ◽  
Author(s):  
S. Jayasuriya ◽  
M. A. Franchek
Keyword(s):  
Transfer Function ◽  
Impulse Response ◽  
Closed Loop ◽  
Transfer Functions ◽  
Phase Transfer ◽  
Minimum Phase ◽  
Step Input ◽  
Input Disturbance ◽  
Negative Impulse ◽  
Poles And Zeros

Presented in this note is a class of stable, minimum phase transfer functions whose impulse response is non-negative. A simple sufficiency criterion based on the relative locations of the poles and zeros characterizes the class. When the transfer function is in a factored form the sign of its impulse response may either be obtained by inspection or is inconclusive. A need for identifying such transfer functions was recently established by Jayasuriya (1989) who showed that a controller designed on the basis of maximizing a step input disturbance will reject a persistent disturbance bounded by the size of the maximized step if and only if the closed-loop system’s impulse response is of one sign.

scholarly journals Fitting of Generic Process Models by an Asymmetric Short Relay Feedback Experiment—The n-Shifting Method

2021 ◽  
Vol 11 (4) ◽  
pp. 1651
Author(s):  
José Sánchez Moreno ◽  
Sebastián Dormido Bencomo ◽  
José Manuel Díaz Martínez
Keyword(s):  
Time Delay ◽  
Transfer Function ◽  
Dynamic Systems ◽  
Transfer Functions ◽  
Process Models ◽  
Transfer Function Model ◽  
Minimum Phase ◽  
Relay Feedback ◽  
Function Model ◽  
Generic Process

This paper presents the generalization of the shifting method for relay feedback identification of dynamic systems of any order. The original shifting method enables the fitting of a maximum of five parameters of a transfer function model from the information obtained from a short relay test and without prior knowledge of the process to identify. The generalization, known as n-shifting, allows the estimation of the parameters of transfer functions of any order by applying one short relay test to the process to identify. Without loss of generality, the n-shifting approach is applied to fit an n-order plus time delay (n-OPTD) model but the approach can be also developed to identify models with other structures (non-minimum phase, unstable, integrators). Some examples of estimations are presented.

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