Frank Boeren

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— Feedforward control can significantly improve the performance of a system through compensation of disturbances. By exploiting measured data from previous tasks and a suitable feedforward parametrization, iterative feedforward control simultaneously attains high performance and good extrapolability of tasks. This paper aims to show that earlier(More)
— The quality of model-based controllers hinges on a careful specification of performance and robustness requirements. In typical norm-based control designs, these performance and robustness requirements are specified in a scalar optimization criterion, even for complex multivariable systems. This paper aims to develop a novel and systematic approach for(More)
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