摘要：AbstractThis paper proposes a novel solution to a long standing problem: to define an inverse model-based feedforward action aimed at attaining an almost perfect transient tracking for PID controlled plants under constraints on the control effort and on the plant output. The new method situates in the recently proposed framework of pseudo inversion, which proved to be very effective to achieve an almost perfect tracking. The presented method assumes a B-spline function as the external reference forcing a given stable closed-loop system. The actual control input yielded by the external reference and forcing the plant is optimally approximated (in the least square sense) by a B-spline. The control points of the B-spline are chosen in such a way to satisfy the saturation constraints on the control effort. For a sufficiently accurate approximation, the exact fulfillment of saturation constraints from the B-spline are transferred to the actual control signal forcing the plant. The simulations on a practical case of a relevant interest show excellent results.
