An Input Reconstruction Approach for Command Following in Linear MIMO Systems
For control engineers working on linear MIMO systems, this offers a new perspective on tracking control, though it is limited to known dynamics and square systems.
The paper proposes a feedback controller for linear MIMO systems that reformulates command following as an input reconstruction problem, achieving unbiased tracking. Simulations and real-time implementation demonstrate its utility.
The idea of posing a command following or tracking control problem as an input reconstruction problem is explored in the paper. For a class of square MIMO systems with known dynamics, by pretending that reference commands are actual outputs of the system, input reconstruction methods can be used to determine control action that will result in a system following desired reference commands. A feedback controller which is a combination of an unbiased state estimator and an input reconstructor that ensures unbiased tracking of reference commands is proposed. Simulations and real-time implementation are presented to demonstrate utility of the proposed idea. Conditions under which proposed controller may be used for non-square systems are also discussed.