Combined input shaping and feedforward control for flexible motion systems

Flexible motion systems often show dominant linear time-invariant behavior which makes them very suitable for high-precision motion tasks. One of the challenges is to reduce the repetitive part in the error as much as possible by means of a well-designed feedforward. As setpoints become more aggressive, flexibilities are excited more and more resulting in a worse performance. In this work, a method is proposed which improves the feedforward design by combining input shaping and classical feedforward such that flexibilities in the system are less excited by aggressive setpoints resulting in an improved tracking accuracy. The method is validated by means of experiments.