Adaptive deadbeat feedforward compensation for robust positioning performance against plant perturbations

This paper presents an adaptive feedforward (FF) compensation technique on the basis of the deadbeat control framework for the fast and precise positioning of mechatronic systems. Plant perturbations due to temperature variations or aging in mechanisms and/or actuators generally deteriorate the positioning performance with response variations. A robust controller design against the perturbations, therefore, is one of important issues for industrial applications. In this research, an adaptive deadbeat FF control approach is applied to provide the robustness against the plant parameter perturbations due to temperature variations. The proposed approach identifies the parameters in on-line manner using an adaptive identification system, and then, redesigns the deadbeat FF controller according to the identified parameters to achieve the nominal performance under different temperature conditions. Effectiveness of the proposed approach has been verified by numerical simulations using a prototype of galvano scanners.