Abstract
Multirate feedforward control enables perfect tracking control for the desired state trajectory at every sample as the same number of the model order. The aim of this paper is the comparison of perfect tracking control approaches for intersample performance in multi-modal motion systems. The multirate feedforward control has a trade-off between the number of states for perfect tracking control and the reference sampling frequency. To balance the trade-off, the states for the perfect tracking control can be selected by the mode decomposition. Intersample performance of each approach in a multi-modal motion system is compared in both frequency domain and time domain.
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