A robust loop-shaping approach to fast and accurate nanopositioning

Sumeet S. Aphale, Antoine Ferreira, S.O. Reza Moheimani

Research output: Contribution to journalArticlepeer-review

26 Citations (Scopus)
3 Downloads (Pure)


Inherent nonlinearities as well as their sharp lightly-damped resonant mode severely limit the positioning bandwidth of commercially available piezoelectric stack actuated nanopositioners. In this paper, we propose a hybrid control scheme that incorporates a $H_{\infty}$-based loop-shaping control scheme for resonance damping and an integral control for tracking. Experimental raster scans recorded in both open-loop and closed-loop operation are presented to show the substantial increase in positioning performance achieved by the implemented control scheme. It is also shown that the control scheme is robust under relatively large changes in platform resonance, an effect of platform loading.
Original languageEnglish
Pages (from-to)88-96
Number of pages9
JournalSensors and Actuators: A. Physical
Early online date24 Oct 2013
Publication statusPublished - 15 Dec 2013


  • Nanopositioning
  • H-infinity loop shaping
  • resonance damping
  • tracking
  • rastering


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