State Trajectory Generation for MIMO Multirate Feedforward using Singular Value Decomposition and Time Axis Reversal

Multirate feedforward control provides a perfect tracking control for a desired state trajectory in ideal theoretical condition. In this study, we propose a state trajectory generation method from a desired output trajectory for a multi-input multi-output (MIMO) system using singular value decomposition and time axis reversal. This method provides perfect tracking control in MIMO systems for a desired output trajectory. We apply this method to a MIMO high-precision stage. This method improves the general applicability of multirate feedforward control for a MIMO system.