Experimental validation of inversion techniques for an LPV motion system

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In previous works, two feedforward methods, namely (a) exact plant inversion and (b) signal decomposition based feedforward control, have been discussed in the context of tracking applications for linear-parameter-varying (LPV) and/or linear-time-varying (LTV) systems. In this paper, experimental validations of both techniques are performed on a single-input-single-output (SISO) fourth-order setup that exhibits parameter-varying motion dynamics. Their performances are compared against the widely-used acceleration (mass) feedforward control and the interpolation of linear-time-invariant (LTI) exact inverses defined along a given scheduling trajectory. The measurement results demonstrate the benefits in addressing the parameter-varying effects.

Original languageEnglish
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers
Number of pages7
ISBN (Print)9781538654286
Publication statusPublished - 9 Aug 2018
Event2018 Annual American Control Conference, (ACC2018) - Milwauke, United States
Duration: 27 Jun 201829 Jun 2018


Conference2018 Annual American Control Conference, (ACC2018)
Abbreviated titleACC2018
CountryUnited States
Internet address

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