Title :
Iterative feedforward control: a closed-loop identification problem and a solution
Author :
Boeren, Frank ; Oomen, Tom
Author_Institution :
Dept. of Mech. Eng., Eindhoven Univ. of Technol., Eindhoven, Netherlands
Abstract :
Feedforward control can significantly improve the performance of a system through compensation of disturbances. By exploiting measured data from previous tasks and a suitable feedforward parametrization, iterative feedforward control simultaneously attains high performance and good extrapolability of tasks. This paper aims to show that earlier contributions in this area suffer from a closed-loop identification problem. A novel solution is presented based on closed-loop identification techniques, which shows that existing feedforward control algorithms can be significantly enhanced. A simulation example confirms the existence of a closed-loop identification problem in earlier approaches and shows that the proposed solution is superior compared to pre-existing results.
Keywords :
closed loop systems; compensation; extrapolation; feedforward; identification; iterative methods; closed loop identification problem; disturbance compensation; extrapolability; feedforward control algorithms; feedforward parametrization; iterative feedforward control; performance improvement; Bismuth; Lead; Optimization;
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
Print_ISBN :
978-1-4673-5714-2
DOI :
10.1109/CDC.2013.6760949