A Mathematical Approach to Integral Resonant Control of Second-order Systems

Research output: Chapter in Book/Report/Conference proceedingPublished conference contribution

1 Citation (Scopus)


Systems with colocated sensor-actuator pairs exhibit an interesting property of pole-zero interlacing. Integral Resonant Control (IRC) exploits this property to result in superior damping performance over multiple resonant modes by prescribing an adequate feed-through term to swap the pole-zero interlacing to a zero-pole one - thus enabling a simple integral feedback controller to add substantial damping to the system. Over the past few years, the IRC has proved
extremely popular and versatile and has been applied to damp the resonance in a variety of systems. So far, a simulation based manual search has been used to determine the three main parameters of the IRC scheme namely: (i) feed-through term, d, (ii) integral gain, k and (iii) resulting damping, . In this paper, a full quantification of the effect of feed-through term on second-order colocated systems as well as a mathematical formulation for the relation between the feed-through term, integral gain and achievable damping are presented. These results add to the current understanding regarding the behaviour of colocated systems and facilitate the IRC design for a specified damping.
Original languageEnglish
Title of host publicationProceedings of the 24th Chinese Control and Decision Conference, Taiyuan China, 23 - 25 May 2012
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Electronic)978-1-4577-2074-1
ISBN (Print)978-1-4577-2073-4
Publication statusPublished - 19 Jul 2012
Event2012 24th Chinese Control and Decision Conference (CCDC) - Taiyuan, China
Duration: 23 May 201225 May 2012


Conference2012 24th Chinese Control and Decision Conference (CCDC)


  • Colocated systems
  • damping
  • Integral Resonant Control
  • nanopositioning


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