Jerk derivative feedforward control for motion systems

M.L.G. Boerlage, R.L. Tousain, M. Steinbuch

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

39 Citations (Scopus)
1 Downloads (Pure)


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
Original languageEnglish
Title of host publicationProceedings of the 2004 American control conference, ACC : June 30 - July 2, 2004, Boston, Massachusetts
Place of PublicationPiscataway, NJ, USA
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Print)0-7803-8335-4
Publication statusPublished - 2004


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