Experimental validation of inversion techniques for an LPV motion system

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Abstract

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
Pages6690-6696
Number of pages7
ISBN (Print)9781538654286
DOIs
Publication statusPublished - 9 Aug 2018
Event2018 Annual American Control Conference, (ACC2018) - Milwauke, United States
Duration: 27 Jun 201829 Jun 2018
http://acc2018.a2c2.org/
http://acc2018.a2c2.org/

Conference

Conference2018 Annual American Control Conference, (ACC2018)
Abbreviated titleACC2018
CountryUnited States
CityMilwauke
Period27/06/1829/06/18
Internet address

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  • Cite this

    Kasemsinsup, Y., Ardyanto, A. F., Butler, H., Heertjes, M., & Weiland, S. (2018). Experimental validation of inversion techniques for an LPV motion system. In 2018 Annual American Control Conference, ACC 2018 (pp. 6690-6696). [8431669] Institute of Electrical and Electronics Engineers. https://doi.org/10.23919/ACC.2018.8431669