Joint input shaping and feedforward for point-to-point motion: Automated tuning for an industrial nanopositioning system

Feedforward control can effectively compensate for the servo error induced by the reference signal if it is tuned appropriately. This paper aims to introduce a new joint input shaping and feedforward parametrization in iterative feedforward control. Such a parametrization has the potential to significantly improve the performance for systems executing a point-to-point reference trajectory. The proposed approach enables an efficient optimization procedure with global convergence. A simulation example and an experimental validation on an industrial motion system confirm (i) the performance improvement obtained by means of the joint input shaping and feedforward parametrization compared to pre-existing results, and (ii) the efficiency of the proposed optimization procedure.