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Improvement of trajectory tracking performance using pseudo feedforward control

This paper presents a novel design framework of feedback controllers in the trajectory tracking control system. In order to improve tracking performance, model-based pseudo feedforward controllers are introduced as a part of feedback system, where the target trajectory is estimated using the target trajectory observer and the estimated trajectory applies as reference for pseudo feedforward controllers. The pseudo feedforward controllers are designed based on a coprime factorization description for a mathematical model of control system. Thus trajectory tracking performance is drastically improved. The effectiveness of the proposed control system has been verified by the experiments using a prototype of tracking control systems.