Complex order control for improved loop-shaping in precision positioning

Complex order control for improved loop-shaping in precision positioning

Saikumar, N. (TU Delft Mechatronic Systems Design)
Valério, D.P.M.O. (Lisbon Technical University)
Hassan HosseinNia, S. (TU Delft Mechatronic Systems Design)

2019

This paper presents a complex order filter developed and subsequently integrated into a PID-based controller design. The nonlinear filter is designed with reset elements to have describing function based frequency response similar to that of a linear (practically non-implementable) complex order filter. This allows for a design which has a negative gain slope and a corresponding positive phase slope as desired from a loopshaping controller-design perspective. This approach enables improvement in precision tracking without compromising the bandwidth or stability requirements. The proposed designs are tested on a planar precision positioning stage and performance compared with PID and other state-of-the-art reset based controllers to showcase the advantages of this filter.

Lead
Gain
Harmonic analysis
Poles and zeros
Shape
Steady-state
Frequency-domain analysis

http://resolver.tudelft.nl/uuid:038384cc-8d28-43e5-b741-48419805d517

https://doi.org/10.1109/CDC40024.2019.9030150

IEEE, Piscataway, NJ, USA

978-1-7281-1398-2

Proceedings of the IEEE 58th Conference on Decision and Control, CDC 2019

IEEE 58th Conference on Decision and Control, CDC 2019, 2019-12-11 → 2019-12-13, Nice, France

Accepted Author Manuscript

Institutional Repository

conference paper

© 2019 N. Saikumar, D.P.M.O. Valério, S. Hassan HosseinNia