Feedforward control with on-line tuning: A perspective on two-degree-of-freedom structure

The two-degree-of-freedom structure allows us to design independently feedforward and feedback controls for response shaping and stabilization, respectively. Feedforward control with on-line tuning is particularly promising for improvement of response, so that various schemes have been proposed in literature. This paper proposes yet another scheme along this direction with focus on the control structure as well as online tuning. The proposed scheme avoids transient instability by tuning both prefilter and feedforward controllers, which are linear in parameter. Numerical simulation is carried out to verify the effectiveness of the scheme.