Feedforward with Acceleration and Snap using Sampled-Data Differentiator for a Multi-Modal Motion System

Sampled-data control requires both on-sample and intersample performance in high-precision mechatronic systems. The aim is to design a discrete-time linearly parameterized feedforward controller improve multi-modal motion system. continuous-time considered as state compatibility by multirate zero-order-hold differentiator. developed approach enables the for sampled-data systems with physically intuitive tuning parameters. improvement validated comparing conventional using backward differentiator