Robust internal model control with feedforward controller for a high-speed motion platform

A new control method based on a combination of robust control and internal model control has been proposed. This control system includes internal model controller for velocity loop, robust controller for position loop, and a feedforward controller. The internal model controller is designed to suppress disturbance. Stability robustness of the closed loop is provided by the robust controller. The zero phase error tracking controller is adopted to act as a feedforward controller to further improve the tracking performance. The theoretical analysis shows the validity of the proposed control scheme. Furthermore, simulations and experimental results are presented to demonstrate performance improvement of the proposed control structure.