{"id":"https://openalex.org/W2028277435","doi":"https://doi.org/10.1163/156855393x00384","title":"Feedforward digital tracking controllers for motion control applications","display_name":"Feedforward digital tracking controllers for motion control applications","publication_year":1992,"publication_date":"1992-01-01","ids":{"openalex":"https://openalex.org/W2028277435","doi":"https://doi.org/10.1163/156855393x00384","mag":"2028277435"},"language":"en","primary_location":{"id":"doi:10.1163/156855393x00384","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855393x00384","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["a    Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720, USA","a Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720, USA"],"affiliations":[{"raw_affiliation_string":"a    Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"a Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5064077634"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.19370847,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"7","issue":"6","first_page":"575","last_page":"586"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.8321942090988159},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.81451416015625},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6091618537902832},{"id":"https://openalex.org/keywords/minimum-phase","display_name":"Minimum phase","score":0.5265491604804993},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5217369794845581},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5119065046310425},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4592549204826355},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4433947205543518},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.43232083320617676},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.41192591190338135},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.392403244972229},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37788790464401245},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2942308187484741},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28647929430007935},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24115869402885437},{"id":"https://openalex.org/keywords/transfer-function","display_name":"Transfer function","score":0.2247283160686493},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12038570642471313},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.112449049949646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11050724983215332},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.0740707516670227}],"concepts":[{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.8321942090988159},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.81451416015625},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6091618537902832},{"id":"https://openalex.org/C170263048","wikidata":"https://www.wikidata.org/wiki/Q489593","display_name":"Minimum phase","level":3,"score":0.5265491604804993},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5217369794845581},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5119065046310425},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4592549204826355},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4433947205543518},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.43232083320617676},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.41192591190338135},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.392403244972229},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37788790464401245},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2942308187484741},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28647929430007935},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24115869402885437},{"id":"https://openalex.org/C81299745","wikidata":"https://www.wikidata.org/wiki/Q334269","display_name":"Transfer function","level":2,"score":0.2247283160686493},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12038570642471313},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.112449049949646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11050724983215332},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0740707516670227},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855393x00384","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855393x00384","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W177930832","https://openalex.org/W1500826814","https://openalex.org/W1512841485","https://openalex.org/W1515926482","https://openalex.org/W1543484782","https://openalex.org/W1591578285","https://openalex.org/W1683130883","https://openalex.org/W1824536915","https://openalex.org/W1964956827","https://openalex.org/W1968722031","https://openalex.org/W2000648911","https://openalex.org/W2008523692","https://openalex.org/W2030912447","https://openalex.org/W2032639607","https://openalex.org/W2044687959","https://openalex.org/W2055215520","https://openalex.org/W2057895073","https://openalex.org/W2082371315","https://openalex.org/W2090796144","https://openalex.org/W2105533768","https://openalex.org/W2118204574","https://openalex.org/W2169840729","https://openalex.org/W2325085130","https://openalex.org/W4239074664","https://openalex.org/W4240225824","https://openalex.org/W4246586762","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W3011220034","https://openalex.org/W2077728074","https://openalex.org/W2984509520","https://openalex.org/W2057244293","https://openalex.org/W2089306986","https://openalex.org/W1589486833","https://openalex.org/W2116883285","https://openalex.org/W2050554501","https://openalex.org/W2051953042"],"abstract_inverted_index":{"This":[0],"paper":[1],"reviews":[2],"digital":[3],"tracking":[4,12,97,159,173],"control":[5,9,15,21,129,168,174,179],"algorithms":[6,175],"for":[7,33,94,111],"motion":[8],"applications.":[10],"In":[11,138],"control,":[13],"the":[14,20,24,34,37,51,68,75,83,99,112,141,167],"objective":[16],"is":[17,40,48,71,89,119,123,131],"to":[18,166,176],"steer":[19],"object":[22],"along":[23],"time-varying":[25],"desired":[26,38],"output.":[27],"Two":[28],"design":[29],"approaches":[30],"are":[31,147,180],"presented":[32],"case":[35],"where":[36],"signal":[39],"known":[41,132],"in":[42],"advance,":[43],"i.e.":[44,74],"previewable.":[45],"One":[46],"approach":[47,122],"based":[49,124],"on":[50,125],"mathematical":[52,69],"inverse":[53,70],"of":[54,59,171],"a":[55,60,64,108,152,158,163],"closed-loop":[56,76,103],"system":[57,77],"consisting":[58],"controlled":[61],"plant":[62],"and":[63,130,144,162],"feedback":[65,142],"controller.":[66],"If":[67],"asymptotically":[72],"stable,":[73],"does":[78],"not":[79],"possess":[80],"zeros":[81,118],"outside":[82],"unit":[84],"circle":[85],"(unstable":[86],"zeros),":[87],"it":[88],"an":[90],"ideal":[91],"feedforward":[92,145],"controller":[93,143,146],"achieving":[95],"perfect":[96],"under":[98],"preview":[100,136],"assumption.":[101],"For":[102],"systems":[104,178],"with":[105],"unstable":[106,117],"zeros,":[107],"cancellation":[109],"technique":[110],"phase":[113],"shift":[114],"induced":[115],"by":[116,150],"introduced.":[120],"Another":[121],"linear":[126],"quadratic":[127,153],"optimal":[128,135],"as":[133],"finite":[134],"control.":[137],"this":[139],"approach,":[140],"determined":[148],"simultaneously":[149],"minimizing":[151],"performance":[154],"index":[155],"which":[156],"involves":[157],"error":[160],"term":[161,164],"related":[165],"effort.":[169],"Applications":[170],"these":[172],"mechanical":[177],"described.":[181]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
