Increasing performance requirements in high-precision mechatronic systems lead to a situation where both multivariable and sampled-data implementation aspects need to be addressed. The aim of this paper is to develop a design framework for a multi-input multi-output feedforward controller to improve continuous-time tracking performance through learning. The sampled-data feedforward controller is designed with physically interpretable tuning parameters using a multirate zero-order-hold differentiator. The developed approach enables interaction compensation for multi-input multi-output systems and the feedforward controller parameters are updated through learning. The performance improvement is experimentally validated in a multi-input multi-output motion system compared to the conventional feedforward controllers.@en

This article introduces a methodology for conducting comparative evaluations of vibration-induced discomfort. The aim is to outline a procedure specifically focused on assessing and comparing the discomfort caused by vibrations. The article emphasizes the metrics that can effectively quantify vibration-induced discomfort and provides insights on utilizing available information to facilitate the assessment of differences observed during the comparisons. The study also addresses the selection of appropriate target scenarios and test environments within the context of the comparative evaluation procedure. A practical case study is presented, highlighting the comparison of wheel corner concepts in the development of new vehicle architectures. Currently, the evaluation criteria and difference thresholds available allow for comparative evaluations within a limited range of vehicle vibration characteristics.

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Sampled-data control requires both on-sample and intersample performance in high-precision mechatronic systems. The aim is to design a discrete-time linearly parameterized feedforward controller to improve both on-sample and intersample performance in a multi-modal motion system. The continuous-time performance is considered as state compatibility by a multirate zero-order-hold differentiator. The developed approach enables the linearly parameterized feedforward controller design for sampled-data systems with physically intuitive tuning parameters. The performance improvement is validated by comparing the developed approach with a conventional approach using a backward differentiator for a multi-modal motion system.

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Feedforward control has an important role in high-precision mechatronic systems. The aim of this research is to design a discrete-time feedforward controller to improve on-sample and intersample errors. The developed approach is parameterized using a linear combination of parameters and basis functions, which results in a parameterization that has intuitive physical meaning. The basis functions are designed with a differentiator that considers the sampled-data and zero-order-hold aspects. The performance improvement is demonstrated by comparing the developed approach with a conventional basis function design for a motion system.@en

The paper presents an overview of continuous wheel slip control (WSC) methods as the part of anti-lock braking system (ABS) for the several vehicles configurations with friction brakes and electric motors. Performance of proposed WSC design variants using several control techniques has been experimentally evaluated for three different test vehicles: Sport Utility Vehicle (SUV) with decoupled electro-hydraulic brake (DEHB) system, SUV with four individual on-board electric motors (OBM), and compact vehicle with four individual in-wheel motors (IWM). Obtained results demonstrated that proposed continuous WSC variants provide a simultaneous effect on braking efficiency and ride quality as well as robust operation in various road conditions. Presented summary provides outlook on future perspectives of the continuous WSC and compares its status with conventional rule-based ABS systems.

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