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.
|Title of host publication||Proceedings of the American Control Conference (ACC 2022)|
|Publication status||Published - 2022|
|Event||2022 American Control Conference, ACC 2022 - Atlanta, United States|
Duration: 8 Jun 2022 → 10 Jun 2022
|Conference||2022 American Control Conference, ACC 2022|
|Period||8/06/22 → 10/06/22|
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