Multi-loop Damping and Tracking Strategy Emulating a Butterworth Pattern for Accurate Nanopositioning (Best Paper Award Winner)

Mohammed Altaher, Sumeet S. Aphale

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

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Control schemes for nanopositioners typically combine damping and tracking. Due to the positioning performance requirements of the nanopositioning system, it is desirable for the closed-loop frequency response of the nanopositioner to mimic ripple-free pass-band low-pass characteristics. Earlier reports are available on simultaneous damping and tracking control emulating a Butterworth filter design, but this technique only incorporates a single integrator for tracking, which is inadequate for error-free tracking of the triangular and ramp-like signals typically used as input to nanopositioning systems. Double integral tracking guarantees error-free tracking, but is difficult to implement due to phase-related stability issues. In this work, a dual-loop integral tracking algorithm is proposed. Using simulation, it is shown that in the presence of hysteresis, the proposed dual-loop scheme delivers a more accurate positioning performance than the traditional single-loop integral tracking strategy.
Original languageEnglish
Title of host publicationModeling, Design and Simulation of Systems.
Subtitle of host publication17th Asia Simulation Conference, AsiaSim 2017, Melaka, Malaysia, August 27 – 29, 2017, Proceedings, Part I
EditorsMohamed Sultan Mohamed Ali, Herman Wahid, Nurul Adilla Mohd Subha, Shafishuhaza Sahlan, Mohd Amri Md. Yunus, Ahmad Ridhwan Wahap
Place of PublicationSpringer, Singapore
Number of pages15
ISBN (Electronic)9789811064630
ISBN (Print)9789811064623
Publication statusPublished - 26 Aug 2017
Event17th Asia Simulation Conference - Meleka, Malaysia
Duration: 27 Aug 201729 Aug 2017

Publication series

NameCommunications in Computer and Information Science (CCIS)
ISSN (Print)1865-0929
ISSN (Electronic)1865-0937


Conference17th Asia Simulation Conference
Abbreviated titleAsiaSim 2017


  • Butterworth pattern
  • Nanopositioner
  • Damping
  • Tracking


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