Model-based control design for inferential and over-actuated control of lightweight motion systems

Next-generation high-precision positioning systems are designed to be lightweight, in order to enable an increase of the speed of movement. As lightweight systems tend to have complex dynamical system behavior, model-based control design is essential to achieve high-performance. Modelbased control typically requires weighting to specify the design objectives, e.g., disturbance attenuation and reference tracking. Hence, for successful control design, the design of weighting functions is of vital importance.