Frequency domain based nonlinear feed forward control design for friction compensation

A frequency domain based method for controller design for nonlinear systems is presented. In a case study, this method is applied to optimally design a feed forward friction compensator for an industrial motion stage in a transmission electron microscope. It is shown that the frequency domain approach yields a tool to fast and easily design friction control in practice with high detection sensitivity and orthogonal tuning of the controller parameters, while providing a well defined notion of optimal performance.