Internal Model Based Iterative Learning Control for Linear Motor Motion Systems

Nonlinear disturbances are the main reasons why the linear motor motion systems can not reach high tracking accuracy. Combining iterative learning control (ILC) with internal model control (IMC), an internal model based iterative learning controller is proposed for linear motor motion systems, which is inherently repetitive in terms of motion trajectories. The ILC is used to increase the tracking accuracy. The IMC part guarantees robust performance. Simulation results show that the IMC based iterative learning control scheme can guarantee robust performance and high tracking accuracy simultaneously