Filtered Split-Path Nonlinear Integrator
A Hybrid Controller for Transient Performance Improvement
B. Sharif (Eindhoven University of Technology)
A Maas (Eindhoven University of Technology)
Nathan van de Wouw (Eindhoven University of Technology, TU Delft - Team Bart De Schutter, University of Minnesota)
W.P. Maurice H. Heemels (Eindhoven University of Technology)
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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.