Resonant-dynamics LTV feedforward for flexible motion systems

In the control synthesis of distributed parameter flexible systems taking into account flexible dynamics plays an increasingly important role. This work proposes a Linear Time-Varying (LTV) feedforward control scheme, which is based on the feasible and stable inversion of a minimum-phase fourth-order LTV approximation of the plant. This approximation takes into account resonant dynamics and (as a result) provides improved phase tracking of the Linear Parameter-Varying (LPV) system. The results are validated through measurement results obtained from a rotational two-mass-spring-damper system with time-varying output