Robust Zero Placement for Motion Control of Lightly Damped Systems

A unified tuning rule for the motion profiles is newly proposed to reduce the residual vibration. For several motion profiles, including trapezoidal velocity profile, S-curve, and asymmetric S-curve, the characteristics and tuning rules are analytically formulated using the time- and Laplace-domain approaches. By adjusting the tuning parameters to place the zeros of the motion profile on a vibratory pole of the system, the residual vibration can be minimized. In particular, the placement of multiple zeros significantly improves the robust performance against modeling errors, owing to robust pole-zero cancellation. By experiments, the efficacy of the proposed approach is validated.