TY - GEN
T1 - Selection of Positive Position Feedback Controllers for Damping and Precision Positioning Applications. (Best Paper Award Finalist)
AU - Moon, Rahul Jagdish
AU - San-Millan, Andres
AU - Aleyaasin, Majid
AU - Feliu, Vicente
AU - Aphale, Sumeet Sunil
PY - 2017/8
Y1 - 2017/8
N2 - Positive Position Feedback (PPF) is a widely used control technique for damping the lightly damped resonant modes of various dynamic systems. Though PPF controller is easy to implement any rigorous mathematical optimization is not possible due to the controller structure. Therefore, almost all PPF designs reported in literature use a trial-and-error approach to push the closed-loop system poles adequately into the left-half plane to achieve adequate damping. In this paper, a full parametric study of the PPF controller based on the closed-loop DC gain vs. achievable damping relationship is carried out. It is shown that the PPF controller best suited to only damp the resonance is not the best if both damping and tracking control is required (as is the case in most precision positioning systems). This leads to a more systematic and goal-oriented selection of appropriate PPF controller for specific applications, hitherto unreported in literature. Experiments performed on a piezoelectric-stack actuated nanopositioning platform are presented to support this conclusion.
AB - Positive Position Feedback (PPF) is a widely used control technique for damping the lightly damped resonant modes of various dynamic systems. Though PPF controller is easy to implement any rigorous mathematical optimization is not possible due to the controller structure. Therefore, almost all PPF designs reported in literature use a trial-and-error approach to push the closed-loop system poles adequately into the left-half plane to achieve adequate damping. In this paper, a full parametric study of the PPF controller based on the closed-loop DC gain vs. achievable damping relationship is carried out. It is shown that the PPF controller best suited to only damp the resonance is not the best if both damping and tracking control is required (as is the case in most precision positioning systems). This leads to a more systematic and goal-oriented selection of appropriate PPF controller for specific applications, hitherto unreported in literature. Experiments performed on a piezoelectric-stack actuated nanopositioning platform are presented to support this conclusion.
U2 - 10.1007/978-981-10-6463-0_25
DO - 10.1007/978-981-10-6463-0_25
M3 - Published conference contribution
SN - 978-981-10-6462-3
VL - 1
T3 - Communications in Computer and Information Science
SP - 289
EP - 301
BT - Modelling, Design and Simulation of Systems
A2 - Mohamed Ali, Mohamed Sultan
A2 - Sahlan, Shafishuhaza
A2 - Wahid, Herman
A2 - Md. Yunus, Mohd Amri
A2 - Mohd Subha, Unruly Adilla
A2 - Wahap, Ahmad Ridhwan
PB - Springer
CY - Melaka, Malaysia
T2 - 17th ASIASIM conference
Y2 - 27 August 2017 through 29 August 2017
ER -