Inverse dynamics of non-minimum phase systems with non-zero initial conditions (Q674776)

The inverse dynamics problem is considered for a stable linear time-invariant non-minimum phase mechanical system with distributed parameters. Zero frequency eigenvalues correspond to the rigid modes. As all natural modes except for the zero frequency have some damping, the transfer function has not zeros on the imaginary axis except for the zero point. The authors use an approximate transfer function which has not zero points in the right half-plane. The forcing function is determined in such a way that only one variable follows a desired trajectory, and the inverse fast Fourier transform is employed. Computer simulation based on the proposed method is performed for a single-link flexible manipulator by using finite elements for the Timoshenko beam, and torque profiles to control the tip displacements are calculated.