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Flatness-based design of feedforward control of linear and nonlinear systems

Many industrial control schemes use a model-based feedforward control in order to obtain a better tracking performance. But compared to the methodologies for feedback design, only few methods are known for feedforward design. The reason for this gap concerns that nominal feedforwards need a system inversion, which is up to now related to the problems of noncausality of the inverse and eventually of its instability in case of non-minimum-phase systems. In the talk, it is shown how the conception of motion planning for nonlinear differentially flat systems can be used to overcome the stated problems for linear and nonlinear systems. The methodology is illustrated by discussion of simple examples.
Type of Seminar:
Public Seminar
Michael Zeitz, Prof. Dr.-Ing.Dr.h.c.
Institut für Systemdynamik und Regelungstechnik, Fak. Verfahrenstechnik u. Technische Kybernetik, Universität Stuttgart, Pfaffenwaldring 9, D-70569 Stuttgart Postfach 801140, D-70511 Stuttgart
May 14, 2003   17:15

ETH Zentrum, Gloriastrasse 35, 8006 Zurich, Building ETZ, Room E6
Contact Person:

Prof. M. Morari
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Biographical Sketch:
Michael Zeitz is Professsor of Automatic Control at the Universität Stuttgart. He received his Diploma in Electrical Engineering from TU Darmstadt and his Doctorate and Habilitation Degrees from Universität Stuttgart. He was Professor of Simulation Engineering at the Ruhr-Universität Bochum and joined the Universität Stuttgart 1979 where his current research interests include nonlinear control and observers, systems with distributed parameters, and computer-aided modelling and simulation tools. He was awarded with the Landesforschungspreis(Research Prize) Baden-Württemberg in 1992 and the Honorary Doctorate of TU Donetsk/Ukraine in 1999.