FIR-BASED OPTIMISED DESIGN OF THE SET POINT PATH IN 2-D.O.F. DIGITAL REGULATORS

The Base Function approach, recently proposed in the literature, is an effective method for set point tracking optimisation with two-degree-of-freedom regulators. However, that approach requires an a priori choice of the feedforward path structure, and it can optimise only the zeroes of that path. This paper proposes a way to overcome those limitations, based on the use of digital Finite Impulse Response filters. An application example, focusing on a typical mechatronic system, illustrates the usefulness of the proposal, and its advantages with respect to continuous time approaches.