This work discusses reference trajectory relevant model based feedforward design. For motion systems which contain at least one rigid body mode and which are subject to reference trajectories with mostly low frequency energy, the proposed feedforward controller improves tracking performance significantly. The feedforward controller may be of much lower order than the plant. The proposed feedforward controller is introduced using a model of an industrial XY-table as an application example
|Title of host publication||Proceedings of the 2004 American control conference, ACC : June 30 - July 2, 2004, Boston, Massachusetts|
|Place of Publication||Piscataway, NJ, USA|
|Publisher||Institute of Electrical and Electronics Engineers|
|Publication status||Published - 2004|
Boerlage, M. L. G., Tousain, R. L., & Steinbuch, M. (2004). Jerk derivative feedforward control for motion systems. In Proceedings of the 2004 American control conference, ACC : June 30 - July 2, 2004, Boston, Massachusetts (Vol. 5, pp. 4843-4848). Institute of Electrical and Electronics Engineers.