Resetting disturbance observers with application in compensation of bounded nonlinearities like hysteresis in piezo-actuators

This paper presents a novel nonlinear (reset) disturbance observer for dynamic compensation of bounded nonlinearities like hysteresis in piezoelectric actuators. Proposed Resetting Disturbance Observer (RDOB) utilizes a novel Constant-gain Lead-phase (CgLp) element based on the concept of reset control. The fundamental limitations of linear...

'Constant in gain lead in phase' element-application in precision motion control

This paper presents a novel 'Constant in gain Lead in phase' (CgLp) element using nonlinear reset technique. PID is the industrial workhorse even to this day in high-tech precision positioning applications. However, Bode's gain phase relationship and waterbed effect fundamentally limit performance of PID and other linear controllers. This...