Experimental Validation of Inversion Techniques for an LPV motion system

In previous works, two feedforward methods, namely (a) exact plant inversion and (b) signal decomposition based feedforward control, have been discussed in the context of tracking applications for linear-parameter-varying (LPV) and/or linear-time-varying (LTV) systems. In this paper, experimental validations of both techniques are performed on a single-input-single-output (SISO) fourth-order setup that exhibits parameter-varying motion dynamics. Their performances are compared against the widely-used acceleration (mass) feedforward control and the interpolation of linear-time-invariant (LTI) exact inverses defined along a given scheduling trajectory. The measurement results demonstrate the benefits in addressing the parameter-varying effects.