Two-Degrees-of-Freedom Controller delivering zero-error tracking of ramp-like trajectories for nanopositioning systems

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

1 Citation (Scopus)


Piezoelectrically actuated nanopositioning systems (tube or platform type) are widely employed in applications where fine mechanical displacements with resolution down to atomic scale are required. This paper presents the design, analysis, and validation of a new control scheme based on the structure of the traditional Two-Degrees-of-Freedom (2DOF) PID controller. The proposed controller is established based on a linear continuous input-output nominal model, and presents a simple structure composed by two second order transfer functions. Despite its simplicity, the controller studied in this paper is able to achieve zero error in the tracking of ramp input signals and, therefore, in the slopes of triangular signals, typically used in nanopositioning applications to trace a raster pattern. The controller also suppresses the unmodeled nonlinearities of the piezoelectric actuated nanopositioning systems without the need of an hysteresis model or a state observer. Moreover, the stability of the control system is proved, and its effectiveness is validated through experimental chattering-free control on a piezoelectric stack-actuated nanopositioning platform. Results demonstrate that the proposed controller is superior to the conventional polynomial-based, proportional-integral, and resonant controllers proposed in literature for motion-tracking tasks in nanopositioning systems.
Original languageEnglish
Title of host publication2015 IEEE Multi-Conference on Systems and Control (CCA)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Electronic)978-1-4799-7787-1
Publication statusPublished - 5 Nov 2015
EventIEEE Conference on Control Applications (CCTA) - 2015 IEEE Conference on Control Applications (CCA), Sidney, Australia
Duration: 21 Sept 201523 Sept 2015

Publication series

ISSN (Print)1085-1992


ConferenceIEEE Conference on Control Applications (CCTA)

Bibliographical note

This paper was sponsored by the Spanish FPU12/00984 Program (Ministerio de Educacion, Cultura y Deporte). It was also sponsored by the Spanish Government Research Program with the Project DPI2012-37062-CO2-01 (Ministerio de Economia y Competitividad) and by the European Social Fund.


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