Combined H∞ -Feedback and Iterative Learning Control Design with Application to Nanopositioning Systems

Abstract

This paper presents a coordinated design framework for precision motion control (PMC) systems. In particular, the focus is on the design of feedback and feedforward controllers operating on systems that repeatedly perform the same tasks. The repetitive nature of the tasks suggests the use of Iterative Learning Control (ILC). However, in addition to the repeatability of the desired trajectory, the class of systems under study examines the effect of nonrepeating disturbances and possible reset errors. The rejection of uncertain, but bounded, disturbances suggests the use of H∞ design. The non-repeating disturbances and reset errors necessitate coordination of the feedback and feedforward designs. The assumption that the disturbances have a particular frequency distribution affords a frequency domain separation between the two controller degrees of freedom. Experimental results are given on a piezo-driven nanopositioning device demonstrating the benefits to the presented approach.

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Iterative Learning Control; Nano Systems; Robust Control

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2008 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Jun 2008

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