An Iterative Approach for Noncausal Feedforward Tuning

A new iterative approach for the determination of a noncausal feedforward control law suitable for set-point regulation is presented in this paper. The technique aims at estimating recursively the parameters of the system to be controlled in order to determine the exact noncausal command input to be applied to the closed-loop system in order to achieve a predefined output transition. In this context, a gradient based minimization of the integrated square error cost function is performed. Simulation results show the effectiveness of the methodology for different system characteristics.