High-Accuracy Oriented CILC Motion Control of Mechatronic Systems with Comparative Experiments

To achieve ideal tracking motion performance for industrial motion stages, cascaded iterative learning control (CILC) strategy is deeply explored and investigated in this paper. CILC is essentially based on executing traditional ILC for several rounds. Specifically, CILC executes a new round of ILC by registering and clearing the feedforward compensation signal. The strategy and accuracy of CILC have been presented and analyzed. The theoretical analysis shows that the repetitive error can be eliminated completely regardless of the imperfection of filters. Comparative experimental investigations are executed on a linear motor-driven stage. Experimental results show that CILC method can achieve significant accuracy improvement compared with standard ILC method, although ILC performs rather well in industry due to its practically excellent control accuracy. CILC has good application potential for industrial mechatronic motion systems.