High-Sampling Rate Dynamic Inversion-Filter Realization and Applications in Digital Control

• Published in: IEEE/ASME transactions on mechatronics Vol. 19; no. 1; pp. 238 - 248
• Main Authors: Chang, Herrick L., Tsu-Chin Tsao
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.02.2014; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Argon; Arrays; Computational efficiency; Digital control; Dynamical systems; Dynamics; electromagnetic forces; feedforward systems; Field programmable gate arrays; Finite impulse response filter; IIR filters; Impulse response; infinite impulse response (IIR) filters; Inversions; Mathematical analysis; Mechatronics; Nonminimum phase systems; Poles and zeros; Real-time systems
• ISSN: 1083-4435; 1941-014X
• DOI: 10.1109/TMECH.2012.2230184

This paper presents a stable inversion of nonminimum phase systems with highly efficient computation for high-sampling rate applications. The stable filter that inverts the dynamics of a nonminimum system is based on cascading a stable pole-zero cancellation infinite impulse response (IIR) filter with a high-order finite impulse response (FIR) filter which inverts the unstable zero dynamics. The high-order FIR filter is realized based on efficient IIR filter implementation first introduced by Powell and Chau then later modified by Kurosu. As a demonstrative example, the inversion filters are applied to feedforward tracking and repetitive control algorithms and realized by a field programmable gate array. The controllers are implemented at 100-kHz sampling rate to control the motion of a 4 degrees-of-freedom magnetically levitated shaft in experiment.