An adaptive tracking control system with 2-delay feedforward compensators

An adaptive tracking control system which combines the 1-delay feedback controller and 2-delay feedforward compensator is proposed. For plants with arbitrary zeros, the 2-delay feedforward compensator modifies the unstable zeros and cancels all poles and modified zeros of the controlled plant. This pole-zero cancellation assures the actual output perfectly tracks to the time-varying signals at the each sampling instances. In the control scheme, the feedforward compensator is used only for tracking compensation, while the feedback controller is used for regulation. With a simple modification of zero assign law in feedforward compensator, the input amplitude can be controlled and attains the 1-delay characteristics for steady state.