I. Introduction
Additive manufacturing is a manufacturing process that can produce complex shapes without needing molds or jigs. In recent years, this 3D printing technology has been studied in a wide range of research fields, including large-scale 3D printing for building structures [1] and food 3D printing [2], which is increasingly needed for nursing food or space food due to its ability to express a variety of textures and tastes. However, most conventional modeling methods use feed-forward control based on a predefined path, that does not allow for path compensation or response to external disturbances during the modeling process. In the deposition-based additive manufacturing process, in which the surfaces are stacked from the bottom layer, a molding error in the bottom layer will affect subsequent layers, resulting in a fatal defect that affects the quality of the entire product. Therefore, a system that detects and corrects defects in real-time is required.