Design Procedure for a Learning Feed-Forward Controller

Abstract When a process is subject to reproducible disturbances, Learning Feed-Forward Control (LFFC) can be used to obtain accurate tracking. Until recently, LFFCs were designed by means of trial and error. This paper formulates a design procedure, according to which an LFFC can be designed in a structured way. The design is based on qualitative knowledge of the process and the disturbances. This design procedure results in a shorter design phase and better performing LFFC. As an example, the design procedure is used to construct an LFFC for a linear motor. Simulations show that the resulting LFFC is able to obtain accurate control.