A method is proposed for designing a feedforward profile for a discrete closed loop system that considers the robustness of the system. The feedforward is obtained from a sinusoidal series and a ramp function to prevent the effect of the plant uncertainty caused by mechanical resonances in a high frequency range. We express plant input and output using the finite series expression of z-i. We select the coefficients of z-i by considering overshoot and undershoot specifications. We apply the proposed feedforward to a HDD (hard disk drive) benchmark.
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