Development of relocation methods for sample zeros and its application to design of digital control systems

基于零极点对消的电机系统数字控制器的设计一直存在困难，其脉冲传递函数的采样零点接近于-1，即稳定区域和不稳定区域之间的边界。我们开发了一种新的方法，通过将一个相超前/滞后元件级联到电机的功率放大器来重新定位采样零点。前馈控制实验验证了该方法的有效性。

There had been difficulties in designing digital controllers based on pole-zero cancelation for motor systems, whose pulse transfer function has so-called sample zero near -1 i.e. the boundary between the stable and unstable region. We developed a novel method to relocate the sample zero by cascade-connection of a phase lead/lag element to the power amplifier of the motor. The efficacy of the method was demonstrated by feedforward control experiments.