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Proceedings Paper

Development of a recursive zero annihilator periodic (ZAP) controller with specific applications in flexible space structures
Author(s): Amy M. Jakubowski; John J. Helferty; David S. Bayard
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Paper Abstract

When continuous-time systems are discretized in the digital controller design process, it is often the case that unstable discrete-time zeros (i.e., zeros outside the unit circle in the Z- plane) result regardless of whether or not there are unstable zeros in the original continuous- time plant. Such a system is recognized as being nonminimum phase. Unfortunately, many design techniques in adaptive control are dependent upon pole-zero cancellations and stable plant invertibility and, therefore, cannot be utilized when the plant is nonminimum phase. In this research, a matrix parameter recursive least squares adaptation law is developed for the zero annihilator periodic (ZAP) controller first introduced by Bayard and later extended by Jakubowski. This direct adaptive control scheme allows for the construction of an optimal set of matrix controller gains that place the transmission zeros of the system at the origin, alleviating the nonminimum phase condition, and force the system output to track a desired reference signal. Simulations are presented that demonstrate the performance of the adaptive ZAP controller on a 12-state, 2-input, 2-output partial model of one of the Astrex struts, where the model of the particular strut exhibits nonminimum phase characteristics.

Paper Details

Date Published: 1 May 1994
PDF: 12 pages
Proc. SPIE 2192, Smart Structures and Materials 1994: Mathematics and Control in Smart Structures, (1 May 1994); doi: 10.1117/12.174210
Show Author Affiliations
Amy M. Jakubowski, Temple Univ. (United States)
John J. Helferty, Temple Univ. (United States)
David S. Bayard, Jet Propulsion Lab. (United States)


Published in SPIE Proceedings Vol. 2192:
Smart Structures and Materials 1994: Mathematics and Control in Smart Structures
H. Thomas Banks, Editor(s)

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