Contour Error Control Based on Optimal Discrete Controller

Jun-li GAO, Ya TANG, Hui-hua ZHU, Wei CHEN


An optimal discrete controller is presented in this paper for contour error control using the standard linear quadratic (LQ) method, upon which the offset loss function and the control loss function were considered to attain a relatively good compromise. The weight coefficient for the control loss and the optimal discrete sampling period are garnered, then a zero phase error tracking controller (ZPETC) is designed with the disturbance observer (DOB) to improve the anti-interference capability and the robustness of the system. The proposed methods are capable of enhancing the stability and rapidity of the discrete controller and reducing the contour error of the system. The results may be valuable for various trajectory tracking control applications.


Contour error, Zero phase error tracking controller, Optimal discrete sampling period


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