Identification and Validation Data for Robust Inverse Feedforward with Hybrid Modeling

This dataset belongs to the Open Access publication "Robust Inversion-Based Feedforward Control With Hybrid Modeling for Feed Drives" (doi: 10.1109/TCST.2024.3512862) A detailed description of the setup can be found in the publication. Feedback controllers from frequency inverter: PI velocity controller with Kp = 0.035 [Nm/(rad/s)], Tn = 2.6 [ms].

P position controller with Kp = 35 [1/s]. The dataset contains the following folders (Please refer to corresponding setup.txt for more details): const_velocities measurements for identification with different constant velocities as reference. velocity_sweeps measurements for identification with velocity sweeps to estimate the analytical approximation of velocity control loop (with constant velocity offset + sweeps as reference) execution_time_GP execution time of feedforward compensation with GP model with unit [μs]. measured in TwinCAT 3 system with the function block "Profiler" (PLC Library-> Tc2_Utilities) robustness_analytic_model robustness test against errors in analytical model G0. robustness_GP_model robustness test against errors in data-driven GP model. tracking results tracking results compared to baseline controller with velocity and acceleration feedforward