Switching filter compensation using A-type two order iterative learning control for periodic force ripple of linear motor

This paper presents a two-order A-type iterative learning control (ILC) scheme along time axis using a switching (SW) Q-filter to restrain periodic force ripples of permanent magnet linear synchronous motor (PMLSM). The purpose of employing the time-varying SW Q-filter is to utilize the enhanced robustness given by a low bandwidth filter, while taking advantage of the superior properties of a high bandwidth Q-filter where needed. Simulations are provided to demonstrate the benefits of the proposed position control scheme. In addition, stability and convergence issues involved in a switching Q-filter are investigated. Finally the developed ILC algorithm is implemented on a permanent magnet linear motor to provide position control verification. As a consequence, the force pulsation is reduced significantly. The proposed approach is evaluated by simulation, which validates its effectiveness.