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

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.