Design of linear feedforward compensation of broad-band disturbances from data

Abstract

Feedback controllers cannot be used when strong attenuation over a broad frequency band is required. In such situations, the solution is to design feedforward compensators using a measurement correlated with the disturbance obtained upstream from the residual acceleration (or force). Nevertheless, a "positive" feedback from control signal to disturbance measurement is introduced that can destabilize the system. Indirect and direct approaches for the design of linear feedforward compensators will be presented. The indirect approach uses identified models for feedforward compensator design while the direct approach estimates directly the feedforward compensator from data.