Reference-tracking feedforward control design for linear dynamical systems through signal decomposition

In this work, we study a novel approach towards the reference-tracking feedforward control design for linear dynamical systems. By utilizing the superposition property and exploiting signal decomposition together with a quadratic optimization process, we obtain a feedforward design procedure for arbitrary linear multi-input and multi-output (MIMO) systems with arbitrary time/parameter-varying characteristics. In other words, the proposed algorithm is applicable to the broad class of linear systems, i.e. linear-time-invariant (LTI), linear- time-varying (LTV) and linear-parameter-varying (LPV) systems. The interplay between the initial state, feedforward and feedback actions are elaborated in detail. The potential of the presented methodology is demonstrated through simulation examples.