Redistributing Controller Orders to Increase Positioning Bandwidth in Nanopositioners

Adedayo Kayode Babarinde, Linlin Li, Jakub Kuncak, LiMin Zhu, Sumeet S. Aphale

Research output: Contribution to journalConference articlepeer-review

1 Citation (Scopus)


Integer-order damping and tracking controllers are typically used in tandem to overcome resonance and hysteresis induced positioning errors in piezo-actuated nanopositioners. This paper takes a novel approach of strategically redistributing the controller orders to achieve significant positioning bandwidth improvement, without any significant increase in the design complexity. The Positive Position Feedback (PPF) controller combined with a suitably gained Integral tracking controller is used as a candidate to demonstrate the efficacy of the proposed technique. The resulting fractional-order PPF damping and Integral tracking controllers result in increasing the overall positioning bandwidth of the closed-loop system by 37%; and subsequent improvement in positioning accuracy while tracking high-frequency triangular trajectories.
Original languageEnglish
Pages (from-to)97-102
Number of pages6
Issue number21
Early online date29 Dec 2021
Publication statusPublished - Dec 2021
EventIFAC Control Conference Africa - Magaliesberg, South Africa
Duration: 7 Dec 20218 Dec 2021


  • fractional-order control
  • Nanopositioners
  • piezoelectric actuator
  • positive position feedback
  • tracking control


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