Generalized approach to robust feedforward control and its application to servo control

In this paper, we propose a robust feedforward control scheme for SISO system. Our control scheme consists of a model-based feedforward controller and stabilizing feedback controller. The feedforward controller is designed such that the output of the nominal plant tracks perfectly the reference input with the desired dynamic characteristics. We then design a feedback controller so as to achieve the suppression of all the disturbances including internal disturbances due to system uncertainties as well as external disturbances. Finally, by applying our controller to servo control system, we demonstrate some advantages of our control scheme over the conventional ones through computer simulations and experimental results.