LMI-based Command Shaping Approach Considering Interference between Table Systems

Force interference between multiple positioning devices during arbitrary motion profiles may deteriorate each positioning performance. Feedforward control schemes which include the command shaping should be useful tools to suppress the effects of the interference. However, it is essentially difficult to satisfy control specifications of positioning strictly. In this paper, a command shaping approach based on Linear Matrix Inequalities (LMI) is applied, where control specifications of table systems are directly considered using inequalities during the command shaping process. The proposed approach has been verified using a prototype which consists of two table systems on a common machine stand.