Iterative-Based Optimal-Inverse Feedforward for Output-Tracking of Nonminimum-Phase Systems
Precision positioning plays a significant role in nonminimum-phase systems, especially toward biomedical applications. Precision output-tracking for a pre-specified output-trajectory can be obtained by iteratively modifying the control input based on previous cycle data of the output-tracking error. This paper presents the implementation of iterative control together with optimal inversion-based feedforward that further improves the output-tracking performance of nonminimum-phase systems. Experimental results for the piezo-based flexible structure system are provided to illustrate the improvements.