Abstract
Feedforward methods have often been met with concern in the field of control theory for a variety of reasons. One of them has been the lack of efficient and accurate methods for the computation of the inverse dynamics. In this paper we will take a new look at the problem of feedforward control and show how results from the field of differential algebraic methods can be used to obtain very accurate high-order inverses of functional relations. Together with sophisticated DA based ODE integration tools that allow differentiation of the solution with respect to parameters, this opens new opportunities for the application of feedforward methods in many control problems. The applicability of the method will be studied in detail with examples from autonomous feedforward control and time-dependent prescribed path problems. All presented methods have been implemented using the code COSY Infinity (Berz, 1997).
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