Linear motor motion control using a learning feedforward controller

Gerco Otten, Theo J.A. de Vries, Job van Amerongen, Adrian M. Rankers, Erik W. Gaal

    Research output: Contribution to journalArticleAcademicpeer-review

    222 Citations (Scopus)
    754 Downloads (Pure)


    The design and realization of an online learning motion controller for a linear motor is presented, and its usefulness is evaluated. The controller consists of two components: (1) a model-based feedback component, and (2) a learning feedforward component. The feedback component is designed on the basis of a simple second-order linear model, which is known to have structural errors. In the design, an emphasis is placed on robustness. The learning feedforward component is a neural-network-based controller, comprised of a one-hidden-layer structure with second-order B-spline basis functions. Simulations and experimental evaluations show that, with little effort, a high-performance motion system can be obtained with this approach.
    Original languageEnglish
    Pages (from-to)179-187
    Number of pages8
    JournalIEEE/ASME transactions on mechatronics
    Issue number3
    Publication statusPublished - 1997


    • Mechatronics
    • Neural network applications
    • Intelligent control
    • Motion Control
    • Learning control systems
    • Linear synchronous motors


    Dive into the research topics of 'Linear motor motion control using a learning feedforward controller'. Together they form a unique fingerprint.

    Cite this