Title:A Combination of Feedforward and Feedback Control for Mechatronic ApplicationsAuthor(s):Richard StadlmayrAbstract:This contribution is about the combination of a feedforward and a feedback controller for mechatronic systems in order to stabilize the trajectories of a nonlinear plant. It is the goal to derive a control law such that the system output follows a given reference curve. Port-Hamiltonian systems provide some special mathematical properties and have turned out beneficial for the stability analysis. The combination of a feedforward and feedback controller achieves good tracking and disturbance rejection at the same time. An extension of the IDA-PBC approach allows us to deal with constrained measurements.Booktitle:4th European Conference on Structural Control (ECSC)ISBN:978-5-904045-10-4Page Reference:page 829-849, 11 page(s)Publishing:2008Volume:2