Iterative feedforward tuning for residual vibration reduction

An iterative approach for the determination of an input-output inversion feedforward control law for residual vibration reduction is proposed in this paper. In particular, point-to-point motion planning of vibratory servosystems is considered. The method aims at estimating recursively the parameters of the system in order to determine the exact command input to be applied to the control system in order to achieve a predefined motion without oscillations. In this context, a gradient based minimisation of the integrated square error cost function is performed. Simulation results show the effectiveness of the methodology