Run-to-Run Indirect Trajectory Tracking Control of Electromechanical Systems Based on Identifiable and Flat Models

TL;DR

This paper introduces a control scheme for electromechanical systems that updates model parameters iteratively to improve trajectory tracking without direct output measurement, demonstrated via simulations.

Contribution

It proposes an identifiable-model-based control method with an iterative parameter update loop for systems lacking direct output measurement.

Findings

Effective position trajectory tracking achieved in simulations

Controller relies solely on coil current measurements

Model parameter updates improve control accuracy

Abstract

Differentially flat models are frequently used to design feedforward controllers for electromechanical systems. However, control performance depends on model accuracy, which makes feedback imperative. This paper presents a control scheme for electromechanical systems in which measuring or estimating the output to be controlled -- typically the position -- is not feasible. It employs an identifiable-model-based controller and predictor, coupled with an iterative loop that updates model parameters using the error between a measurable output and its prediction. Simulations on electromechanical switching devices show effective tracking of the desired position trajectory using only coil current measurements.