Simultaneous Optimization of Damping and Tracking Controller Parameters via Selective Pole Placement for Enhanced Positioning Bandwidth of Nanopositioners

Douglas Russell, Andrew J. Fleming, Sumeet Sunil Aphale

Research output: Contribution to journalArticle

12 Citations (Scopus)


Positive velocity and position feedback (PVPF) is a widely used control scheme in lightly damped resonant systems with collocated sensor actuator pairs. The popularity of PVPF is due to the ability to achieve a chosen damping ratio by repositioning the poles of the system. The addition of a tracking controller, to reduce the effects of inherent nonlinearities, causes the poles to deviate from the intended location and can be a detriment to the damping achieved. By designing the PVPF and tracking controllers simultaneously, the optimal damping and tracking can be achieved. Simulations show full damping of the first resonance mode and significantly higher bandwidth than that achieved using the traditional PVPF design method, allowing for high-speed scanning with accurate tracking. Experimental results are also provided to verify performance in implementation.
Original languageEnglish
Article numberDS-14-1539
Number of pages8
JournalJournal of Dynamic Systems, Measurement, and Control
Issue number10
Publication statusPublished - 10 Jul 2015



  • Positive velocity and position
  • PVPF
  • Tracking controller
  • Optimal damping

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