A Nonlinear Integrator Based on the First-Order Reset Element
Luke F.van van Eijk (TU Delft - Mechatronic Systems Design, ASMPT)
Yixuan Liu (TU Delft - Team Meichen Guo)
X. Zhang (TU Delft - Mechatronic Systems Design)
Dragan Kostić (ASMPT)
S. Hassan Hassan HosseinNia (TU Delft - Mechatronic Systems Design)
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Abstract
This work proposes a novel nonlinear Proportional-Integral (PI) controller, which utilizes a generalized first-order reset element. The proposed element can achieve similar magnitude-characteristics as its linear counterpart but with less phase lag at the open-loop crossover frequency (i.e. the control bandwidth), according to a sinusoidal-input describing function (SIDF) analysis. The same can be achieved with an existing reset-based integrator, the Clegg integrator (CI). However, it is known that a Proportional-CI (PCI) element can excessively generate higher-order harmonics of its input, which are neglected in the SIDF-analysis. Furthermore, a PCI can cause a limit cycle when placed in closed-loop with certain types of plants. The novel PI controller proposed in this work can prevent the limit cycle and can reduce the generation of higher-order harmonics, while retaining the beneficial phase advantage that is associated with existing reset-based PI controllers.
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