Abstract
The recently introduced Split-Path Nonlinear Integrator (SPANI) is designed to improve the transient performance of linear (motion) systems in terms of overshoot. The SPANI was shown to be an effective nonlinear controller to improve transient performance by enforcing the same sign in the integrator action and the error. However, to avoid (fast) switching in the control input in steady-state, conservatism had to be introduced in the SPANI design, thereby limiting the performance. In this paper, this conservatism is removed by introducing a new design, called the Filtered Split-Path Nonlinear Integrator (F-SPANI). This design is based on the inclusion of an additional filter in the phase path, which enables the full potential behind the main idea of the SPANI. The ease of the design and implementation and the potential of the proposed controller are illustrated both in simulation and in experiments on a motion system.
| Original language | English |
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| Title of host publication | Proceedings of the American Control Conference (ACC) 2017, 24-26 May 2017, Seattle, Washington |
| Place of Publication | Piscataway |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 3500-3505 |
| Number of pages | 6 |
| ISBN (Electronic) | 978-1-5090-5992-8 |
| ISBN (Print) | 978-1-5090-4583-9 |
| DOIs | |
| Publication status | Published - 29 Jun 2017 |
| Event | 2017 American Control Conference (ACC 2017) - Sheraton Seattle Hotel, Seattle, United States Duration: 24 May 2017 → 26 May 2017 http://acc2017.a2c2.org/ |
Conference
| Conference | 2017 American Control Conference (ACC 2017) |
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| Abbreviated title | ACC 2017 |
| Country/Territory | United States |
| City | Seattle |
| Period | 24/05/17 → 26/05/17 |
| Internet address |