This paper presents a frequency shaping of position reference in a framework of deadbeat feedforward compensation with specified step settling. In the proposed compensation, a control design freedom is additionally expanded to the frequency shaping in the original position reference, while the feedforward compensation ensures the specified step settling performance under the conventional control scheme. As a result, a two-degree-of-freedom positioning controller using the proposed approach can improve the settling performance with residual vibration suppression rather than the conventional approach. The effectiveness of the proposed shaping has been verified by experiments using a prototype of linear-motor-driven table system.
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Seki et al. (2013) studied this question.
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