- Title
- Multivariable model-less feedforward control of a monolithic nanopositioning stage with FIR Filter inversion
- Creator
- Omidbeike, Meysam; Eielsen, Arnfinn A.; Yong, Yuen K.; Fleming, Andrew J.
- Relation
- MARSS 2019: 4th International Conference on Manipulation, Automation, and Robotics at Small Scales. Proceedings of MARSS 2019: 4th International Conference on Manipulation, Automation, and Robotics at Small Scales (Helsinki, Finland 01-05 July, 2019)
- Publisher Link
- http://dx.doi.org/10.1109/MARSS.2019.8860974
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2019
- Description
- A model-less approach for inversion of the dynamics of multivariable systems using FIR filters is described. Inversion-based feedforward techniques have been widely used in the literature to achieve high-performance output tracking. The foremost difficulties associated with plant inversions are model uncertainties and non-minimum phase zeros. Various model-based methods have been proposed to exclude non-minimum phase zeros when inverting both single-input and single-output (SISO), and multiple-input and multiple-output (MIMO) systems. However, these methods increase the model uncertainty as they are no longer exact. To overcome these difficulties a model-less approach using FIR filters is presented. The results when applying the feedforward FIR filter to a multivariable nanopositioning system is presented, and they demonstrate the effectiveness of the feedforward technique in reducing the cross-coupling and achieving significantly improved output tracking.
- Subject
- inversion; multivariable; FIR filter; nanopositioning
- Identifier
- http://hdl.handle.net/1959.13/1460195
- Identifier
- uon:45892
- Identifier
- ISBN:9781728109473
- Language
- eng
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