Frequency Response Data-Driven Multi-Axis Add-On Structure Feedback Controller Design Applied to 3-DOF High-Precision Motion System

Feedback controller design for multivariable motion systems presents a challenge due to the numerous tuning parameters and complex coupling dynamics. The aim of this paper is to develop a data-driven design procedure for decentralized feedback controllers in multi-axis motion systems. The decentralized feedback controller in each axis is constructed in an add-on structure, and the parameters are designed by iterative convex optimization using frequency response data. The developed approach enables interpretability in the optimized feedback controllers due to their structured representation, and the coupling dynamics between each axis can be considered by the data-driven optimization. The performance improvement is validated through numerical simulation based on experimental data from a 3-DOF high-precision motion system.