DocumentCode :
1142336
Title :
Combined H _{\\infty } -Feedback Control and Iterative Learning Control Design With Application to Nanopositioning Systems
Author :
Helfrich, Brian E. ; Lee, Chibum ; Bristow, Douglas A. ; Xiao, X.H. ; Dong, Jingyan ; Alleyne, A.G. ; Salapaka, Srinivasa M. ; Ferreira, Placid M.
Author_Institution :
Dept. of Mech. Sci. & Eng., Univ. of Illinois, Urbana, IL, USA
Volume :
18
Issue :
2
fYear :
2010
fDate :
3/1/2010 12:00:00 AM
Firstpage :
336
Lastpage :
351
Abstract :
This paper examines a coordinated feedback and feedforward control design strategy for precision motion control (PMC) systems. It is assumed that the primary exogenous signals are repeated; including disturbances and references. Therefore, an iterative learning control (ILC) feedforward strategy can be used. The introduction of additional non-repeating exogenous signals, including disturbances, noise, and reset errors, necessitates the proper coordination between feedback and feedforward controllers to achieve high performance. A novel ratio of repeated versus non-repeated signal power in the frequency domain is introduced and defined as the repetitive-to-non-repetitive (RNR) ratio. This frequency specific ratio allows for a new approach to delegating feedback and feedforward control efforts based on RNR value. A systematic procedure for control design is given whereby the feedback addresses the non-repeating exogenous signal content (RNR ≪ 0 dB) and the feedforward ILC addresses the repeating signal content (RNR ≫ 0 dB). To illustrate the design approach, two case studies using different nano-positioning devices are given.
Keywords :
H control; adaptive control; control system synthesis; feedback; feedforward; iterative methods; learning systems; motion control; nanopositioning; H feedback control; coordinated feedback control design strategy; coordinated feedforward control design strategy; iterative learning control design; nanopositioning systems; precision motion control systems; repetitive-to-non-repetitive ratio; Iterative learning control (ILC); nanopositioning; precision motion control (PMC);
fLanguage :
English
Journal_Title :
Control Systems Technology, IEEE Transactions on
Publisher :
ieee
ISSN :
1063-6536
Type :
jour
DOI :
10.1109/TCST.2009.2018835
Filename :
5169845
Link To Document :
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