Feedforward of Sampled-Data System for High-Precision Motion Control using Basis Functions with ZOH Differentiator

Masahiro Mae, Max van Haren, Wataru Ohnishi, T.A.E. Oomen, Hiroshi Fujimoto

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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Feedforward control has an important role in high-precision mechatronic systems. The aim of this research is to design a discrete-time feedforward controller to improve on-sample and intersample errors. The developed approach is parameterized using a linear combination of parameters and basis functions, which results in a parameterization that has intuitive physical meaning. The basis functions are designed with a differentiator that considers the sampled-data and zero-order-hold aspects. The performance improvement is demonstrated by comparing the developed approach with a conventional basis function design for a motion system.
Original languageEnglish
Title of host publicationProceedings of the American Control Conference (ACC 2022)
ISBN (Print)978-1-6654-5196-3
Publication statusPublished - 2022
Event2022 American Control Conference, ACC 2022 - Atlanta, United States
Duration: 8 Jun 202210 Jun 2022


Conference2022 American Control Conference, ACC 2022
Country/TerritoryUnited States

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


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