Bandwidth-on-demand motion control

Journal article (2017)

Authors

S.J.L.M. van Loon Eindhoven University of Technology
B.G.B. Hunnekens Eindhoven University of Technology
A. Simon Eindhoven University of Technology
N. van de Wouw , University of Minnesota, Eindhoven University of Technology
W.P.M.H. Heemels Eindhoven University of Technology
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Published Date

2017

Language

English

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Abstract

In this brief, we introduce a "bandwidth-on-demand" variable-gain control (VGC) strategy that allows for a varying bandwidth of the feedback controller. The proposed VGC can achieve improved performance given time-varying, reference-dependent performance requirements compared with linear time-invariant (LTI) control suffering from design tradeoffs between low-frequency tracking performance and sensitivity to higher-frequency disturbances. The VGC consists of frequency-domain loop-shaped linear filters and a variable-gain element, which depends on reference information. We present easy-to-use controller design guidelines and data-based frequency-domain conditions to verify stability and convergence of the closed-loop system. Moreover, the ability of the ``bandwidth-on-demand'' controller to outperform LTI controllers is emphasized through experiments on an industrial nanopositioning motion stage.

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