Gain-characteristics manipulation technique for zero phase error tracking controller
零相差跟踪控制器增益特性处理技术

In a zero phase error tracking control system, the gain error increases as frequency increases; meanwhile, the zero phase error tracking control system exhibits amplification to high frequency noises. In order to solve these problems, a gain-characteristics manipulation method for zero phase error tracking controller is investigated based on the idea of optimizaton. By setting the optimization objective function and restriction conditions, we design the gain error compensator with gain-compensation in low frequency band and gain-attenuation in high frequency band. The design process is given in details and the parameter calculation formulas are derived analytically. Simulation results indicate that the designed compensator effectively increases the tracking accuracy and reduces noise content in controller output, thus, improving the motion smoothness and providing advantages for engineering applications.