System Inversion and Feedforward Control via Formal Power Series and Summation Methods

Abstract

This paper provides initial results on the use of formal power series parameterizations and summation methods for linear and nonlinear finite dimensional systems. The parameterizations prove to be suitable for system inversion, trajectory planning, and feedforward control. In addition, the parameterization offers a possibility of incorporating conditions imposed on the desired output and the necessary input trajectory, which are formulated directly in the time domain. The potential of the method is demonstrated by a nonlinear example system with unstable internal dynamics.

Keywords: System inversion, feedforward control, trajectory planning, internal dynamics, formal power series, summation methods.