A Multi-Loop Control Strategy for Enhanced Nanopositioning

Mohammed Altaher, Sumeet S. Aphale, Douglas Russell

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


Vibration problems are inherent in most precision positioning systems. These systems are lightly damped and highly susceptible to mechanical resonance and nonlinearity, such as hysteresis and creep. Traditional approaches use a combination of damping and tracking controllers to deal with nonlinearity and resonance respectively. The damping controller utilised in this work to damp the mechanical resonance of the nanopositioning platform is the Integral Resonant Controller (IRC). This common approach is based on sole use of the integral controller (I) or proportional integral (PI) as a tracking controller to treat nonlinearity. This paper employs a multi-loop feedback scheme as a second-order integral tracking controller in conjunction with the damping controller (IRC). The proposed multi-loop feedback scheme delivers enhanced tracking performance with better compensation for hysteresis in comparison with singleloop tracking.
Original languageEnglish
Title of host publicationThe 6th IASTED African Conference
Subtitle of host publicationModelling and Simulation
Place of PublicationGaborone Botswana
PublisherACTA Press
Number of pages7
Publication statusPublished - 5 Sept 2016
EventAfricaEWRM 2016 - Gabarone, Botswana
Duration: 5 Sept 20167 Sept 2016


ConferenceAfricaEWRM 2016


  • nanopositioner stage
  • nonlinearity
  • resonance
  • feedback control


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