Short Course: Feedforward Control

Santosh Devasia Link to Instructor's Website
U. of Washington

Day 1
Exercise 1 Tracking Problem
Example ff + fb problem and soln by Vrutang
Exercise 2 Nonminimum Phase Tracking problem
Paper on Robustness of Inverse Feedforward
SISO Inverse Notes

Day 2
Solving internal dynamics of 2 mass and rod nonminimum-phase example
Exercise on Minimum phase Inversion.
Solution to Exercise on Minimum phase Inversion.
Paper on Optimal Feedforward: Actuator Redundant/Deficient Systems

Other Articles
1. Preview-based Implementation
Paper on Online preview-based implementation of Inverse Feedforward for the nonminimum-phase case
2. Nonlinear Inverse
Notes on inverse of nonlinear nonminimum phase systems
Initial paper on inverse of nonlinear nonminimum phase systems
MATLAB Code for the example in initial paper on nonlinear nonminimum phase systems
Paper on inversion of Vertical Takeoff and Landing (VTOL) Aircraft Model
3. Review Articles on Inversion
A Survey of Control Issues in Nanopositioning: Review article on challenges in Nanopositioning. This covers different control challenges in nanopositioning.
A Review of Feedforward Control Approaches in Nanopositioning for High-Speed SPM: Review article on feedforward methods in Nanopositioning for Scanning Probe Microscopes. This develops connections to other techniques such as robust feedforward and ZPET methods.