Adaptive Control With Internal Model for High Precision Motion Control

This paper proposes an adaptive control scheme that minimizes the Least-Mean-Square value of the plant output while meeting the constraint of canceling deterministic exogenous signals generated by a priori known dynamics. This scheme may be applied to a broad range of application where the exogenous input signals to the plant contain both deterministic and stochastic components. The adaptive control includes both feedback and previewed feedforward actions. In both actions, the deterministic signal model is included as a constraint for the dynamics from the external input to the plant output by solutions of a Bezout identity. The proposed scheme is applied to a fast acting piezoelectric actuator to generate precise dynamic motion profiles. Experimental results are presented to demonstrate the effectiveness of the proposed adaptive control scheme.