Position control with a rate limit on the control signal
Systems Science, 23 (4):
74-86 (1997)cited By 0.Abstract
The paper addresses the problems associated with a rate limit on the control signal of a position controller. Both feedback and feedforward control schemes are addressed. To aid analysis the rate limit is approximated in the frequency domain by an amplitude dependent lag. This approximation leads to a proposed method for ensuring stability of the feedback controller. For feedforward control, a velocity profile method is proposed. Two approaches for implementing this scheme are discussed: one using an exact solution of the equations of motion; the other making use of a non-linear constrained optimisation of position error and travel time.