An Iterative Approach for Noncausal Feedforward Tuning

Abstract

Abstract-A new iterative approach for the determination of a noncausal feedforward control law suitable for setpoint regulation is presented in this paper. The technique aims at estimating recursively the parameters of the system to be controlled in order to determine the exact noncausal command input to be applied to the closed-loop system in order to achieve a predefined output transition. In this context, a gradient based minimization of the integrated square error cost function is performed. Simulation results show the effectiveness of the methodology for different system characteristics.

Iterative Feedforward Tuning for Residual Vibration Reduction

“…In order to estimate correctly the model parameters in the context of the inversion-based methodology, an iterative approach is presented in this paper. The proposed technique aims at estimating the parameters of the system (namely, those of the motor and of the elastic transmission) in order to minimise the integrated square error cost function, where the error considered is the difference between the obtained system transient response and the one that is desired (Piazzi and Visioli (2007)). A gradientbased minimisation is used for this purpose and the procedure exploits the use of a sensor that measures the load position.…”