Frequency domain based nonlinear feed forward control design for friction compensation

David Rijlaarsdam, Pieter W.j.m. Nuij, Joannes Schoukens, Maarten Steinbuch

Research output: Contribution to journalArticle

35 Citations (Scopus)


A frequency domain based method for controller design for nonlinear systems is presented. In a case study, this method is applied to optimally design a feed forward friction compensator for an industrial motion stage in a transmission electron microscope. It is shown that the frequency domain approach yields a tool to fast and easily design friction control in practice with high detection sensitivity and orthogonal tuning of the controller parameters, while providing a well defined notion of optimal performance.
Original languageEnglish
Pages (from-to)551-562
Number of pages12
JournalMechanical Systems and Signal Processing
Publication statusPublished - 1 Feb 2012


  • Friction compensation
  • Feed forward
  • Performance of nonlinear systems
  • Frequency domain methods
  • Motion control

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