Abstract

It is well-known that real non-minimum phase (RNMP) zeros impose a tradeoff between the settling time and undershoot in the step response of flexible systems. Existing methods to alleviate this tradeoff predominantly rely on various advanced control strategies without delving into a broader mechatronic approach that combines physical system and control system design. To address this gap, this paper proposes a proportional viscous damping-based physical system design in combination with feedback control and prefilter design. First, the effect of proportional viscous damping on RNMP zeros of flexible systems is established to propose a damping strategy that pushes all the RNMP zeros further away from the imaginary axis. Then, a step-by-step mechatronic system design process is presented to apply this damping strategy along with full state feedback control strategy and prefilter to a multi-DoF flexible system. The application of this design process yields simultaneous improvement in the settling time and undershoot in the step response of this flexible system.

This content is only available via PDF.
You do not currently have access to this content.