Complex order control for improved loop-shaping in precision positioning

Conference paper (2019)

Authors

N. Saikumar Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering
D.P.M.O. Valério Lisbon Technical University
S. Hassan HosseinNia Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering
Research Group
Mechatronic Systems Design (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2019 N. Saikumar, D.P.M.O. Valério, S. Hassan HosseinNia
DOI: https://doi.org/10.1109/CDC40024.2019.9030150
More Info
expand_more

Published Date

2019

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical, Maritime and Materials Engineering

Department

Precision and Microsystems Engineering

Research Group

Mechatronic Systems Design

Abstract

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.

Files

CDC_2019.pdf
(pdf | 1.34 Mb)
09030150.pdf
(pdf | 1.54 Mb)

Download not available