Improving the Closed-Loop Tracking Performance Using the First-Order Hold Sensing Technique with Experiments

TL;DR

This paper introduces the first-order hold sensing technique to improve closed-loop tracking performance, demonstrating through experiments and simulations that it outperforms the traditional zero-order hold in reducing steady-state error.

Contribution

The paper presents a novel application of the first-order hold in closed-loop control, showing its advantages over zero-order hold through theoretical comparison and experimental validation.

Findings

FOH reduces steady-state tracking error compared to ZOH.

Experimental results confirm the superiority of FOH in a pendulum setup.

Simulation and real-world experiments are consistent.

Abstract

This paper proposes a new perspective in the enhancement of the closed-loop tracking performance by using the first-order hold (FOH) sensing technique. Firstly, the literature review and fundamentals of the FOH are outlined. Secondly, the performance of the most commonly used zero-order hold (ZOH) and that of the FOH are compared. Lastly, the detailed implementation of the FOH on a pendulum tracking setup is presented to verify the superiority of the FOH over the ZOH in terms of the steady state tracking error. The results of the simulation and the experiment are in agreement.