Application of a Fractional Order Integral Resonant Control to increase the achievable bandwidth of a nanopositioner

Andres San-Millan, Vicente Feliu-Batlle, Sumeet S Aphale

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

7 Citations (Scopus)
9 Downloads (Pure)


This paper proposes a Fractional-order modification of the traditional Integral Resonant Controller named as FIRC. The fractional integral action utilised in the proposed FIRC is a simple, robust, and well-performing technique for vibration control in smart structures with collocated sensor-actuator pairs such as nanopositioning stages. The proposed control scheme is robust in the sense of being insensitive to spillover dynamics and maintaining closed-loop stability even in the presence of model inaccuracies or time-delays in the system. The experimental and simulated results have showed that the proposed FIRC can provide a closed-loop bandwidth which spans up to a 95.2% of the first resonant mode of the experimental system, thus improving the bandwidth achieved by classical integer-order IRC implementations.
Original languageEnglish
Title of host publication20th IFAC World Congress
EditorsDenis Dochain, Didier Henrion, Dimitri Peaucelle
Number of pages6
Publication statusPublished - 27 Jul 2017
Event20th IFAC World Congress - Toulouse, France
Duration: 9 Jul 201714 Jul 2017

Publication series

ISSN (Electronic)2405-8963


Conference20th IFAC World Congress

Bibliographical note

The congress program will essentially include papers selected on the highest standard by the IPC, according to the IFAC guidelines, and published in open access in partnership with Elsevier in the IFAC-PapersOnline series, hosted on the ScienceDirect platform Survey papers overviewing a research topic are also most welcome. Contributed papers will have usual 6 pages length limitation. 12 pages limitation will apply to survey papers.


  • fractional-order control
  • smart structures
  • piezoelectric actuators
  • strain gauges
  • robust control


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