Mechanical Engineering Commons^™

Combined H∞-Feedback Control And Iterative Learning Control Design With Application To Nanopositioning Systems, Brian E. Helfrich, Chibum Lee, Douglas A. Bristow, Jingyan Dong, Srinivasa M. Salapaka, Placid M. Ferreira, X. H. Xiao, Andrew G. Alleyne

Mechanical and Aerospace Engineering Faculty Research & Creative Works

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 …