A Fast Algebraic Estimator for System Parameter Estimation and Online Controller Tuning: A Nanopositioning Application

Andres San-Millan, Sumeet Sunil Aphale, Vicente Feliu

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Parameter uncertainty is a key challenge in the real-time control of nanopositioners employed in Scanning Probe Microscopy. Changes in the sample to be scanned, introduces changes in system resonances; requiring instantaneous online tuning of controller parameters to ensure stable, optimal scanning performance. This paper presents a method based on the frequency-domain algebraic derivative approach for the accurate online identification of the nanopositioner’s parameters. The parameter estimates are produced within a fraction of one period of the resonant mode frequency, allowing almost instantaneous tuning of controller parameters. Experimental results show that the proposed method can be utilized to automatically tune an Integral Resonant Control (IRC) scheme, that combines both damping and tracking actions, and consequently deliver positioning performance far superior to that achieved solely due to the scheme’s inherent robustness properties. It is further shown that the achieved performance compares favourably with an optimally designed control scheme of the same type.
Original languageEnglish
Pages (from-to)4534-4543
Number of pages10
JournalIEEE Transactions On Industrial Electronics
Issue number6
Early online date3 Sep 2018
Publication statusPublished - Jun 2019



  • Nanopositioning
  • Algebraic Parameter Estimation
  • Integral Resonant Control
  • Resonant frequency
  • Estimation
  • Robustness
  • Tuning
  • Real-time systems
  • Frequency estimation

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