Termination test of feedback error learning for automation of learning and positioning

This paper considers the timing of termination of feedback error learning (FEL) so as to avoid long learning time and improve the tracking performance. In our method, the learning is automatically stopped according to the change of time integral of estimated parameters in a feedforward controller, resulting in the cost reduction of controller tuning. Proposed termination test is performed in the learning control of a linear stage. Furthermore, the automation of the FEL and stage positioning is investigated. The effectiveness of the proposed method is shown by experiment.