Abstract
A final-state control method has been proposed as a feedforward control method for mechanical systems having vibration modes at high frequencies. Frequency components of the feedforward input are reduced at the desired frequency points by suppressing the residual vibration, thereby achieving high-speed positioning. However, a large memory size is required in order to store the feedforward input data.
This paper proposes a final-state control method in which the feedforward input is generated by a sampled-data polynomial. The required memory size is drastically reduced since only the coefficients of the polynomial are to be stored. The effectiveness of the proposed method is evaluated by applying it to the HDD benchmark problem.
