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Description
To address spatial nonlinear coupling and position-dependent additive and multiplicative disturbances in Magnetically Levitated Planar Motor (MLPM) caused by decoupling mismatch, this paper proposes a data-driven position-dependent nonlinear feedforward iterative tuning method. Unlike conventional polynomial feedforward approaches, the proposed rational feedforward controller uses its numerator to compensate additive disturbances and system modes, and its denominator to handle multiplicative disturbances. Comparative experiments show that the proposed method accurately compensates both disturbance types over the full stroke, effectively overcoming the performance degradation of conventional feedforward in thrust ripple regions, and significantly improving global dynamic tracking accuracy