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Fixed structure feedforward controller design exploiting iterative trials / Stan H. van der Meulen in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°5 (Septembre 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 16 p. Titre : Fixed structure feedforward controller design exploiting iterative trials : application to a wafer stage and a desktop printer Type de document : texte imprimé Auteurs : Stan H. van der Meulen, Auteur ; Rob L. Tousain, Auteur ; Okko H. Bosgra, Auteur Année de publication : 2008 Article en page(s) : 16 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : control  equipment;  feedforward  control;  errors Résumé : In this paper, the feedforward controller design problem for high-precision electromechanical servo systems that execute finite time tasks is addressed. The presented procedure combines the selection of the fixed structure of the feedforward controller and the optimization of the controller parameters by iterative trials. A linear parametrization of the feedforward controller in a two-degree-of-freedom control architecture is chosen, which results in a feedforward controller that is applicable to a class of motion profiles as well as in a convex optimization problem, with the objective function being a quadratic function of the tracking error. Optimization by iterative trials avoids the need for detailed knowledge of the plant, achieves the controller parameter values that are optimal with respect to the actual plant, and allows for the adaptation to possible variations that occur in the plant dynamics. Experimental results on a high-precision wafer stage and a desktop printer illustrate the procedure. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Fixed structure feedforward controller design exploiting iterative trials : application to a wafer stage and a desktop printer [texte imprimé] / Stan H. van der Meulen, Auteur ; Rob L. Tousain, Auteur ; Okko H. Bosgra, Auteur . - 2008 . - 16 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 16 p. Mots-clés : control  equipment;  feedforward  control;  errors Résumé : In this paper, the feedforward controller design problem for high-precision electromechanical servo systems that execute finite time tasks is addressed. The presented procedure combines the selection of the fixed structure of the feedforward controller and the optimization of the controller parameters by iterative trials. A linear parametrization of the feedforward controller in a two-degree-of-freedom control architecture is chosen, which results in a feedforward controller that is applicable to a class of motion profiles as well as in a convex optimization problem, with the objective function being a quadratic function of the tracking error. Optimization by iterative trials avoids the need for detailed knowledge of the plant, achieves the controller parameter values that are optimal with respect to the actual plant, and allows for the adaptation to possible variations that occur in the plant dynamics. Experimental results on a high-precision wafer stage and a desktop printer illustrate the procedure. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]