Linear motor motion control using a learning feedforward controller

The design and realization of an on-line learning motion controller for a linear motor is presented, and its usefulness is evaluated. The controller consists of two components: 1) a model-based feedback component and 2) a learning feedforward component, The feedback component is designed on the basis of a simple second-order linear model, which is known to have structural errors, In the design, emphasis is placed on robustness, The learning feedforward component is a neural-network-based controller, comprised of a one-hidden-layer structure with second-order B-spline basis functions, Simulations and experimental evaluations show that, with little effort, a high-performance motion system can be obtained with this approach.