Improving the positioning bandwidth of the Integral Resonant Control Scheme through strategic zero placement

Douglas Russell, Andrew J. Fleming, Sumeet S. Aphale

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Integral Resonant Control (IRC) is a simple and robust control scheme for vibration damping. Combined with an integral tracking controller, the IRC has been shown to improve the performance of a wide range of nanopositioners. However, the overall improvement in positioning performance is limited by the pole induced by the IRC. Through selective zero placement, the induced pole can be placed near origin. A structured PI tracking controller, where the PI gains are selected to place a zero at a specific location, is used to cancel the pole. This effectively reduces the order of the system by one. For this system, controller gains are derived analytically in order to maximize tracking bandwidth. Simulation results for one axis of a nanopositioner are provided for both standard and modified IRC schemes. Compared to the standard IRC scheme, the modified IRC scheme is found to provide a 55% increase in the ±1 dB bandwidth and a reduction of both maximum and rms tracking errors.

Original languageEnglish
Title of host publication19th IFAC World Congress Proceedings
Subtitle of host publication2014
PublisherIFAC Secretariat
Pages6539-6544
Number of pages6
ISBN (Print)9783902823625
DOIs
Publication statusPublished - 2014
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: 24 Aug 201429 Aug 2014

Publication series

NameIFAC Proceedings Volumes
PublisherElsevier
Number3
Volume47

Conference

Conference19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
CountrySouth Africa
CityCape Town
Period24/08/1429/08/14

Fingerprint

Bandwidth
Poles
Controllers
Robust control
Vibrations (mechanical)
Damping

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Russell, D., Fleming, A. J., & Aphale, S. S. (2014). Improving the positioning bandwidth of the Integral Resonant Control Scheme through strategic zero placement. In 19th IFAC World Congress Proceedings: 2014 (pp. 6539-6544). (IFAC Proceedings Volumes; Vol. 47, No. 3). IFAC Secretariat. https://doi.org/10.3182/20140824-6-ZA-1003.00191

Improving the positioning bandwidth of the Integral Resonant Control Scheme through strategic zero placement. / Russell, Douglas; Fleming, Andrew J.; Aphale, Sumeet S.

19th IFAC World Congress Proceedings: 2014. IFAC Secretariat, 2014. p. 6539-6544 (IFAC Proceedings Volumes; Vol. 47, No. 3).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Russell, D, Fleming, AJ & Aphale, SS 2014, Improving the positioning bandwidth of the Integral Resonant Control Scheme through strategic zero placement. in 19th IFAC World Congress Proceedings: 2014. IFAC Proceedings Volumes, no. 3, vol. 47, IFAC Secretariat, pp. 6539-6544, 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014, Cape Town, South Africa, 24/08/14. https://doi.org/10.3182/20140824-6-ZA-1003.00191
Russell D, Fleming AJ, Aphale SS. Improving the positioning bandwidth of the Integral Resonant Control Scheme through strategic zero placement. In 19th IFAC World Congress Proceedings: 2014. IFAC Secretariat. 2014. p. 6539-6544. (IFAC Proceedings Volumes; 3). https://doi.org/10.3182/20140824-6-ZA-1003.00191
Russell, Douglas ; Fleming, Andrew J. ; Aphale, Sumeet S. / Improving the positioning bandwidth of the Integral Resonant Control Scheme through strategic zero placement. 19th IFAC World Congress Proceedings: 2014. IFAC Secretariat, 2014. pp. 6539-6544 (IFAC Proceedings Volumes; 3).
@inproceedings{206e67f85cc04f53a47eebbdebea39d9,
title = "Improving the positioning bandwidth of the Integral Resonant Control Scheme through strategic zero placement",
abstract = "Integral Resonant Control (IRC) is a simple and robust control scheme for vibration damping. Combined with an integral tracking controller, the IRC has been shown to improve the performance of a wide range of nanopositioners. However, the overall improvement in positioning performance is limited by the pole induced by the IRC. Through selective zero placement, the induced pole can be placed near origin. A structured PI tracking controller, where the PI gains are selected to place a zero at a specific location, is used to cancel the pole. This effectively reduces the order of the system by one. For this system, controller gains are derived analytically in order to maximize tracking bandwidth. Simulation results for one axis of a nanopositioner are provided for both standard and modified IRC schemes. Compared to the standard IRC scheme, the modified IRC scheme is found to provide a 55{\%} increase in the ±1 dB bandwidth and a reduction of both maximum and rms tracking errors.",
author = "Douglas Russell and Fleming, {Andrew J.} and Aphale, {Sumeet S.}",
year = "2014",
doi = "10.3182/20140824-6-ZA-1003.00191",
language = "English",
isbn = "9783902823625",
series = "IFAC Proceedings Volumes",
publisher = "IFAC Secretariat",
number = "3",
pages = "6539--6544",
booktitle = "19th IFAC World Congress Proceedings",

}

TY - GEN

T1 - Improving the positioning bandwidth of the Integral Resonant Control Scheme through strategic zero placement

AU - Russell, Douglas

AU - Fleming, Andrew J.

AU - Aphale, Sumeet S.

PY - 2014

Y1 - 2014

N2 - Integral Resonant Control (IRC) is a simple and robust control scheme for vibration damping. Combined with an integral tracking controller, the IRC has been shown to improve the performance of a wide range of nanopositioners. However, the overall improvement in positioning performance is limited by the pole induced by the IRC. Through selective zero placement, the induced pole can be placed near origin. A structured PI tracking controller, where the PI gains are selected to place a zero at a specific location, is used to cancel the pole. This effectively reduces the order of the system by one. For this system, controller gains are derived analytically in order to maximize tracking bandwidth. Simulation results for one axis of a nanopositioner are provided for both standard and modified IRC schemes. Compared to the standard IRC scheme, the modified IRC scheme is found to provide a 55% increase in the ±1 dB bandwidth and a reduction of both maximum and rms tracking errors.

AB - Integral Resonant Control (IRC) is a simple and robust control scheme for vibration damping. Combined with an integral tracking controller, the IRC has been shown to improve the performance of a wide range of nanopositioners. However, the overall improvement in positioning performance is limited by the pole induced by the IRC. Through selective zero placement, the induced pole can be placed near origin. A structured PI tracking controller, where the PI gains are selected to place a zero at a specific location, is used to cancel the pole. This effectively reduces the order of the system by one. For this system, controller gains are derived analytically in order to maximize tracking bandwidth. Simulation results for one axis of a nanopositioner are provided for both standard and modified IRC schemes. Compared to the standard IRC scheme, the modified IRC scheme is found to provide a 55% increase in the ±1 dB bandwidth and a reduction of both maximum and rms tracking errors.

UR - http://www.scopus.com/inward/record.url?scp=84929833171&partnerID=8YFLogxK

U2 - 10.3182/20140824-6-ZA-1003.00191

DO - 10.3182/20140824-6-ZA-1003.00191

M3 - Conference contribution

SN - 9783902823625

T3 - IFAC Proceedings Volumes

SP - 6539

EP - 6544

BT - 19th IFAC World Congress Proceedings

PB - IFAC Secretariat

ER -