Multirate Feedforward Control based on Modal Form with Mode Selection Applied to Multi-Modal High-Precision Positioning Stage

Multirate feedforward control provides perfect tracking control for the desired state trajectory in the model. The aim of this paper is the analysis of multi rate feedforward control based on modal form with mode selection. The proposed approach is applied for a mechanical system that has several modes and a multi rate feedforward controller is designed depending on the mode selection. The approach is successfully applied to an 8th order motion system. The proposed approach improves the intersample behavior of tracking error compared with multi rate feedforward control based on controllable canonical form.