Parameter-Dependent Feedforward Strategies for Motion Systems

In high performance motion systems, the ever increasing demand for high accelerations and tracking accuracy necessitates the explicit incorporation of the parameter-dependent dynamics in the control design. For feedforward control, this can be achieved via the application of the Linear Parameter-Varying (LPV) framework or by including the measured parameters into the nonlinear control framework. Through simulation studies it is shown that addressing position-dependent dynamics with an LPV or nonlinear feedforward design increases the performance of motion systems compared to traditional linear time-invariant and nonlinear methods. Furthermore, similarities and advantages among the feedforward methods are investigated.