A Modified Polynomial-Based Controller for Enhancing the Positioning Bandwidth of Nanopositioners

Mohammad Namavar, Sumeet Sunil Aphale

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

1 Citation (Scopus)


Polynomial-based damping techniques such as Positive Position Feedback (PPF) and Positive Velocity and Position Feedback (PVPF) have been applied successfully to a number of lightly damped systems to overcome resonance-induced vibration issues. These control designs exhibit several advantages such as substantial damping performance, relative ease of design and adequate robustness in the presence of plant parameter uncertainties. Their formulation is based on the well-known pole-placement technique where damping is achieved by pushing the poles of the close-loop system arbitrarily away from the jω axis and in to the left-half plane. Current designs result in changing the real part of the poles while keeping the imaginary part unaltered; thus keeping the resonant frequency of the closed-loop, damped system unchanged, compared to the original undamped, open-loop system. In this work, we present a pole-placement technique which results not only in the substantial damping of the resonance but also in shifting the system resonance to a substantially higher frequency. This result is beneficial to a number of systems such as nanopositioners employed in Scanning Probe Microscopes, where maximizing the positioning bandwidth is a major goal and the achievable bandwidth is severely limited by the resonant frequency of the positioner.
Original languageEnglish
Title of host publication19th IFAC World Congress IFAC 2014 Cape Town, South Africa, 24-29 August 2014
Subtitle of host publicationProceedings
EditorsEdward Boje, Xiaohua Xia
PublisherInternational Federation of Automatic Control (IFAC)
Pages 5890-5895
Number of pages6
ISBN (Electronic)978-3-902823-62-5
Publication statusPublished - Sept 2014
EventIFAC World Congress - , South Africa
Duration: 24 Aug 201429 Aug 2014

Publication series

NameIFAC Proceedings Volumes
PublisherInternational Federation of Automatic Control (IFAC)
ISSN (Electronic)1474-6670


ConferenceIFAC World Congress
Country/TerritorySouth Africa


  • Micro and Nano Mechatronic Systems
  • Vibration Control
  • Application of mechatronic principles


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