Feedforward Control Considering Input and States Constraints with Eliminating Residual Vibration

This paper presents a design method for damping feedforward control input that inhibits residual vibration while assuring states constraints, for systems accompanied by fluctuations of the resonance frequency. It is realized by reducing the problem of minimizing the tracking error and the energy of the desired overall frequency band to a quadratic programming problem. Compared to conventional techniques, this technique can hold at all times the residual vibration to an extremely low value no matter how the resonance frequency of the plant may fluctuate within the range of the estimate. In addition, the computation volume is relatively small, so it is possible to deal adequately with practical on-line plants. The effectiveness of this technique was demonstrated by an experiment with a liquid transfer system.