  Mechatronic systems have increasingly high performance requirements for
motion control. The low-frequency contribution of the flexible dynamics, i.e.
the compliance, should be compensated for by means of snap feedforward to
achieve high accuracy. Position-dependent compliance, which often occurs in
motion systems, requires the snap feedforward parameter to be modeled as a
function of position. Position-dependent compliance is compensated for by using
a Gaussian process to model the snap feedforward parameter as a continuous
function of position. A simulation of a flexible beam shows that a significant
performance increase is achieved when using the Gaussian process snap
feedforward parameter to compensate for position-dependent compliance.
