Linear model-based feedforward control for improving tracking-performance of linear motors

Yan Jang Li, Szu-Chi Tien

Research output: Contribution to journalArticle

1 Citation (Scopus)


The main purpose of this article is to propose a linear model-based approach for improving the tracking performance of linear motors. In particular, P- and PI-controllers, augmented with a linear-model-based feedforward controller and disturbance observer (DOB), were utilized in this research. Experimental results show that the feedforward controller can substantially reduce the phase-delay problem resulting from the limitation of closed-loop bandwidth. In addition, the DOB can reject nonlinear behaviors to keep a motor-system close to our nominal linear model. Compared with the results of using P- and PI-controllers only, tracking errors were reduced from 4.44% to 0.67% of the desired trajectory. Therefore, the proposed method provides a solution for improving the tracking performance of linear motors.

Original languageEnglish
Pages (from-to)1602-1611
Number of pages10
JournalAsian Journal of Control
Issue number6
Publication statusPublished - 2014 Jan 1


All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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