Tracking Control of High Order Input Reference Using Integrals State Feedback and Coefficient Diagram Method Tuning

Abstract

The purpose of the research is tracking control to follow the input reference signal such as step, ramp, parabolic, and high order reference stably. The challenge is rising when high order input references, such as parabolic or polynomial, are used in the advanced system. Like in satellite and missile launcher systems, the triple integrator systems have to follow parabolic or polynomial trajectory with high stability required. The research proposed an integrals state feedback controller to combine simple state feedback control with cascade-layered integral control. The order of the input reference defines the structure and number of integrals used. Along with Coefficient Diagram Method in its tuning process, the proposed controller is guaranteed to have good stability and zero steady-state error. Simulation results and mathematical proofs of stability and zero steady-state error are provided on the paper. The proposed method can follow various input references such as the ramp, parabolic, polynomial, and higher-order reference based on the simulation and mathematical proofs. The stability using the pole location also shown the negative poles that give a stable system.

Keywords

• Integrals control
• state feedback
• tracking control
• input reference
• coefficient diagram