Effect of Integral Feedback Control Forbeam Tip Pointing
This paper presents the effect of an integral feedback controller for minimizing the pointing error at the tip of a very flexible and slender cantilever beam to follow a command signal. A piezoeletric PZT actuator patch isbonded on near the clamped end of the cantilever beam. Also it is considered that a position sensor is located near the tip of the beam but it is not attached on the beam. The beam is designed to be lightly damped and its step response withoutcontrol is quite long. But because of the non-collocation of the sensor and actuator, the plant response is non-minimum phase. After an intensive computer simulation, it is noted that the integral controller can reduce the settling time with proper stability and control gains. Also an analysis and comparison of the integral controller with a proportional-integral controller for the pointing error minimization of the very flexible and slender beam is described in detail.