1.8 KiB
+++ title = "Minimizing cross-talk in high-precision motion systems using data-based dynamic decoupling" author = ["Dehaeze Thomas"] draft = false +++
- Tags
- [Decoupled Control]({{< relref "decoupled_control.md" >}})
- Reference
- (Heertjes and van Engelen 2011)
- Author(s)
- Heertjes, M., & Engelen, A. v.
- Year
- 2011
In the field of high-precision motion control, a static decoupling control design is generally used to command motion in the directions of an orthogonal basis. Around the center-of-gravity of the system it then usually suffices to apply single-input single-output control in each of these directions separately. Among the advantages are robust stability and performance through straightforward control designs and loop shaping techniques.
If the static decoupling part does not fully achieve desired decoupling of the underlying MIMO motion system, a multi-variable controller can be sought to replace the SISO controller part. A more natural approach would therefore be to replace the MIMO static decoupling part by a dynamic part and leave the SISO controller part intact.
The aim of the paper is to minimize directly the cross-talk outputs via data-based optimization. The criterion to be optimized consists solely of time-domain signals taken from a performance-relevant time interval.