Fixed-structure sampled-data feedforward control for multivariable motion systems

Journal article (2025)

Authors

Masahiro Mae University of Tokyo
Max van Haren Eindhoven University of Technology
Koen Classens Eindhoven University of Technology
Wataru Ohnishi University of Tokyo
Tom Oomen Team Jan-Willem van Wingerden - Mechanical, Maritime and Materials Engineering , Eindhoven University of Technology
Hiroshi Fujimoto University of Tokyo
Research Group
Team Jan-Willem van Wingerden (Mechanical, Maritime and Materials Engineering) (TU Delft)
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Published Date

2025

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Jan-Willem van Wingerden

Abstract

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.