Abstract — The design and realization of an on-line learning motion controller for a linear motor is presented, and its usefulness is evaluated. The controller consists of two components: 1) a modelbased feedback component and 2) a learning feedforward component. The feedback component is designed on basis of a simple second order linear model, which is known to have structural errors. In the design, emphasis is placed on robustness. The learning feedforward component is a neural-network-based controller, comprised of a onehidden-layer structure with second-order B-spline basis functions. Simulations and experimental evaluations show that, with little effort, a high-performance motion system can be obtained with this approach. Index terms – Intelligent control, learning control systems, linear synchronous motors, mechatronics, motion control, neural network applications I
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