Enhancing feedforward controller tuning via instrumental variables: with application to nanopositioning. Issue 4 (3rd April 2017)

• Record Type: Journal Article
• Authors: Boeren, Frank; Bruijnen, Dennis; Oomen, Tom
• Is Part Of: International journal of control. Volume 90:Issue 4(2017)
• Page Start: 746
• Page End: 764
• Publication Date: 2017-04-03
• Subjects: Feedforward control -- system identification -- data-driven control -- precision motion systems; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2016.1219921
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: Feedforward control enables high performance of a motion system. Recently, algorithms have been proposed that eliminate bias errors in tuning the parameters of a feedforward controller. The aim of this paper is to develop a new algorithm that combines unbiased parameter estimates with optimal accuracy in terms of variance. A simulation study is presented to illustrate the poor accuracy properties of pre-existing algorithms compared to the proposed approach. Experimental results obtained on an industrial nanopositioning system confirm the practical relevance of the proposed method.