System inversion for sampled-data feedforward control: balancing on-sample and intersample behavior

Discrete-time system inversion for perfect tracking goes at the expense of intersample behavior. The aim of this paper is the development of a discrete-time inversion approach that improves continuous-time performance by also addressing the intersample behavior. The proposed approach balances the on-sample and intersample behavior and provides a whole range of new solutions, with stable inversion and multirate inversion as special cases. The approach is successfully applied to a motion system. The proposed approach improves the intersample behavior through discrete-time system inversion