System identification driven pre-filter design for dynamic compensation

Overshoot reduction is essential in high-precision control, and the designed pre-filters effectively mitigate this issue, leading to enhanced control accuracy and robustness, in particular when the closed-loop controller is not permitted to retuned by the users. This paper presents a novel approach to dynamic compensation through system identification-driven pre-filter design. By accurately modeling the closed-loop system’s dynamics, the proposed method enables the development of pre-filters that enhance system performance. The system identification process involves estimating the closed-loop system’s parameters using reference-output data, which are then used to design pre-filters compensating the specific dynamic characteristics. Experimental results from a drone demonstrate the efficacy of the proposed pre-filter design.