Filtered Split-Path Nonlinear Integrator

A Hybrid Controller for Transient Performance Improvement

Journal article (2022)

Authors

B. Sharif Eindhoven University of Technology
A Maas Eindhoven University of Technology
N. van de Wouw Team Bart De Schutter - Mechanical, Maritime and Materials Engineering , Eindhoven University of Technology, University of Minnesota
W. P.M.H. Heemels Eindhoven University of Technology
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 B. Sharif, A. van der Maas, N. van de Wouw, W. P.M.H. Heemels
DOI
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https://doi.org/10.1109/TCST.2021.3050001
Stability analysis Steady-state Motion control Linear systems PD control Hybrid control Switches Stability criteria Transient analysis Lead Transient performance.
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Published Date

2022

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

The filtered split-path nonlinear integrator (F-SPANI) is a generic nonlinear controller designed to improve the transient performance of linear (motion) systems in terms of overshoot. The main idea underlying F-SPANI is that the amplitude and phase of an integrator can be tuned using independent filters, resulting in more efficient use of the buffer of the integrator. In this article, a general description of F-SPANI is presented. In addition, a stability analysis result is presented that provides sufficient conditions in the form of linear matrix inequalities (LMIs) for closed-loop stability analysis on the basis of construction of a common quadratic Lyapunov function (CQLF). The ease of the design, implementation, and the potential of the proposed controller are illustrated both in simulations and in experiments on an industrial pick-and-place machine.