Advances in High-Performance Motion Control of Mechatronic Systems

2

Fast Motion Control Using TDOF Control Structure and Optimal Feedforward Input

M. Hirata

Utsunomiya University

CONTENTS

2.1    TDOF Control Structure

2.1.1    One-Degree-Of-Freedom Control System

2.1.2    Two-Degrees-Of-Freedom Control System

2.1.3    Implementation of Feedforward Input by TDOF Control Structure

2.2    Optimum Feedforward Input Design

2.2.1    Minimum Time Control

2.2.2    Minimum Jerk Input

2.2.3    Digital Implementation of Minimum Jerk Input

2.2.4    Sampled-Data Polynomial Input

2.3    Final-State Control

2.3.1    Problem Formulation

2.3.2    Minimum Jerk Input Design by FSC

2.3.3    Vibration Minimized Input Design by FSC

2.3.4    Final-State Control with Constraints

2.4    Industrial Application: Hard Disk Drives