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This chapter introducesFeedforward Control (FFC) an enhanced feedforward controlEnhanced Feedforward Control (enhanced FFC) (FFCFeedforward Control (FFC)) scheme designed to overcome the inherent limitations of conventional feedforward strategies, particularly their sensitivity to model inaccuraciesModel inaccuracy and delayed response due to pre-filtering dynamicsPre-filtering dynamics. While traditional FFCFeedforward Control (FFC) offers proactiveProactive compensation for reference changes and measurable disturbances, its reliance on precise plant modeling often compromises performance in real-world applications characterized by uncertainties and unmodeled dynamics. To address these challenges, a structurally modified FFCFeedforward Control (FFC) framework is presented, incorporating model-following and uncertainty reduction techniques that significantly improve robustness. The introduced scheme embeds a compensatory mechanismCompensatory mechanism within the FFCFeedforward Control (FFC) loop, effectively attenuating both multiplicative and additive uncertaintiesAdditive uncertainty. By introducing a flexible reference model and a targeted error compensatorError compensator, theEnhanced Feedforward Control (enhanced FFC) enhanced FFCFeedforward Control (FFC) achieves improved transient responseTransient response and disturbance rejectionDisturbance rejection—even under significant model mismatch. Analytical derivations, numerical simulationsNumerical simulation, and experimental validationsExperimental validation on mass–stiffness–damping systemsMass–stiffness–damping system (MKC systemsMKC system) confirm the superior performance of the scheme compared to conventional approaches. Notably, even in the presence of actuator friction, payload variation, or inaccurate gravity compensationGravity compensation, theEnhanced Feedforward Control (enhanced FFC) enhanced FFCFeedforward Control (FFC) maintains precise tracking and zero steady-state error. With its broad applicabilityApplicability, minimal structural complexity, and compatibility with existing control frameworks, the enhanced feedforward approach offers a robust and scalable solution for high-performance control in uncertain dynamic environments.

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Enhanced Feedforward Control

  • 章节

  • 发表日期：

    2026年

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  • Hai-An Zhu

摘要

This chapter introducesFeedforward Control (FFC) an enhanced feedforward controlEnhanced Feedforward Control (enhanced FFC) (FFCFeedforward Control (FFC)) scheme designed to overcome the inherent limitations of conventional feedforward strategies, particularly their sensitivity to model inaccuraciesModel inaccuracy and delayed response due to pre-filtering dynamicsPre-filtering dynamics. While traditional FFCFeedforward Control (FFC) offers proactiveProactive compensation for reference changes and measurable disturbances, its reliance on precise plant modeling often compromises performance in real-world applications characterized by uncertainties and unmodeled dynamics. To address these challenges, a structurally modified FFCFeedforward Control (FFC) framework is presented, incorporating model-following and uncertainty reduction techniques that significantly improve robustness. The introduced scheme embeds a compensatory mechanismCompensatory mechanism within the FFCFeedforward Control (FFC) loop, effectively attenuating both multiplicative and additive uncertaintiesAdditive uncertainty. By introducing a flexible reference model and a targeted error compensatorError compensator, theEnhanced Feedforward Control (enhanced FFC) enhanced FFCFeedforward Control (FFC) achieves improved transient responseTransient response and disturbance rejectionDisturbance rejection—even under significant model mismatch. Analytical derivations, numerical simulationsNumerical simulation, and experimental validationsExperimental validation on mass–stiffness–damping systemsMass–stiffness–damping system (MKC systemsMKC system) confirm the superior performance of the scheme compared to conventional approaches. Notably, even in the presence of actuator friction, payload variation, or inaccurate gravity compensationGravity compensation, theEnhanced Feedforward Control (enhanced FFC) enhanced FFCFeedforward Control (FFC) maintains precise tracking and zero steady-state error. With its broad applicabilityApplicability, minimal structural complexity, and compatibility with existing control frameworks, the enhanced feedforward approach offers a robust and scalable solution for high-performance control in uncertain dynamic environments.