Enhancing feedforward controller tuning via instrumental variables: with application to nanopositioning

F.A.J. Boeren (Corresponding author), D.J.H. Bruijnen, T.A.E. Oomen

Research output: Contribution to journalArticleAcademicpeer-review

17 Citations (Scopus)
122 Downloads (Pure)

Abstract

Feedforward control enables high performance of a motion system. Recently, algorithms have been proposed that eliminate bias errors in tuning the parameters of a feedforward controller. The aim of this paper is to develop a new algorithm that combines unbiased parameter estimates with optimal accuracy in terms of variance. A simulation study is presented to illustrate the poor accuracy properties of pre-existing algorithms compared to the proposed approach. Experimental results obtained on an industrial nanopositioning system confirm the practical relevance of the proposed method.

Original languageEnglish
Pages (from-to)746-764
Number of pages19
JournalInternational Journal of Control
Volume90
Issue number4
Early online date8 Sep 2016
DOIs
Publication statusPublished - 3 Apr 2017

Keywords

  • data-driven control
  • Feedforward control
  • precision motion systems
  • system identification

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