- Explain the basic concepts, algorithms, assumptions and typical applications of the advanced motion control methods ILC, DRC, AFC and MRAC.
- Perform a simulation with two advanced control techniques (ILC or DRC and AFC or MRAC)
- Present a recent development or application of advanced motion control methods from a literature study.
Conventionally, fixed parameter controllers are used for motion control. Such controllers are widely applied, because of their stability guarantees and satisfactory performance in most cases. In some cases performance needs improvement by updating the controller using information on the disturbance or system dynamics. Such advanced motion controllers are considered in this course.|
Examples of advanced motion controllers that learn the disturbance are iterative learning control (ILC) for repetitive disturbances, repetitive control (RC) for periodic disturbances and disturbance rejection control (DRC) for slowly varying disturbances. Examples of advanced motion controllers that learn system dynamics are adaptive feedforward control (AFC) learning the dynamic response to a known reference or disturbance and model adaptive reference control (MRAC) learning the controller parameters to match a prescribed closed-loop response.
In the first part of the course, the basic principles of ILC, DRC, AFC and MRAC are introduced and specific implementations and applications are presented to the students. In the second part of the course, the students study recent developments in fundamentals, algorithms and applications of these or similar advanced control techniques in literature and present their findings to the other students.