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Discrete-time asymptotic reference tracking for an industrial robot

The paper deals with the design of a discrete-time state space compensator to track a reference command. This approach called Command Generator Tracker (CGT) covers a broad class of reference signals that can be described by a linear differential equation with constant coefficients. The design technique is LQ-based and its principle consists in extending the plant model so that the resulting compensator includes modes of both the reference signal and the disturbance. In such a case, proper reference tracking is guaranteed. Standard LQ problem solution is then applied for the extended system yielding feedback and feed-forward gains of the CGT compensator simultaneously. Discrete-time CGT design for an industrial robot illustrates its implementation possibilities in motion control.