Feedforward and Feedback Model Free Adaptive Iterative Learning Control with Application to a Linear Motor System

In this paper, a discrete-time feedforward and feedback model-free adaptive iterative learning control (FFMFAILC) approach is applied to the position tracking of the linear motor gantry system LMG2A-CB6-CC8. Firstly, the feedforward controller is designed by utilizing the model-free adaptive iterative (MFAILC) approach. Then the FFMFAILC method is proposed by adding the feedback control law based on the original MFAILC to reject non-repetitive exogenous disturbance. Finally, the effectiveness and robustness of the FFMFAILC approach are verified through simulation and experiment on the linear motor gantry system compared with the MFAILC approach.