TY - GEN
T1 - Improving the positioning bandwidth of the Integral Resonant Control Scheme through strategic zero placement
AU - Russell, Douglas
AU - Fleming, Andrew J.
AU - Aphale, Sumeet S.
PY - 2014
Y1 - 2014
N2 - Integral Resonant Control (IRC) is a simple and robust control scheme for vibration damping. Combined with an integral tracking controller, the IRC has been shown to improve the performance of a wide range of nanopositioners. However, the overall improvement in positioning performance is limited by the pole induced by the IRC. Through selective zero placement, the induced pole can be placed near origin. A structured PI tracking controller, where the PI gains are selected to place a zero at a specific location, is used to cancel the pole. This effectively reduces the order of the system by one. For this system, controller gains are derived analytically in order to maximize tracking bandwidth. Simulation results for one axis of a nanopositioner are provided for both standard and modified IRC schemes. Compared to the standard IRC scheme, the modified IRC scheme is found to provide a 55% increase in the ±1 dB bandwidth and a reduction of both maximum and rms tracking errors.
AB - Integral Resonant Control (IRC) is a simple and robust control scheme for vibration damping. Combined with an integral tracking controller, the IRC has been shown to improve the performance of a wide range of nanopositioners. However, the overall improvement in positioning performance is limited by the pole induced by the IRC. Through selective zero placement, the induced pole can be placed near origin. A structured PI tracking controller, where the PI gains are selected to place a zero at a specific location, is used to cancel the pole. This effectively reduces the order of the system by one. For this system, controller gains are derived analytically in order to maximize tracking bandwidth. Simulation results for one axis of a nanopositioner are provided for both standard and modified IRC schemes. Compared to the standard IRC scheme, the modified IRC scheme is found to provide a 55% increase in the ±1 dB bandwidth and a reduction of both maximum and rms tracking errors.
UR - http://www.scopus.com/inward/record.url?scp=84929833171&partnerID=8YFLogxK
U2 - 10.3182/20140824-6-ZA-1003.00191
DO - 10.3182/20140824-6-ZA-1003.00191
M3 - Published conference contribution
AN - SCOPUS:84929833171
SN - 9783902823625
T3 - IFAC Proceedings Volumes
SP - 6539
EP - 6544
BT - 19th IFAC World Congress Proceedings
PB - IFAC Secretariat
T2 - 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Y2 - 24 August 2014 through 29 August 2014
ER -