Hybrid PID control for transient performance improvement of motion systems with friction

R. Beerens, A. Bisoffi, L. Zaccarian, W.P.M.H. Heemels, H. Nijmeijer, N. van de Wouw

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Citations (Scopus)
4 Downloads (Pure)


We present a novel reset control approach to improve transient performance of a PID-controlled motion system subject to friction. In particular, a reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the system overshoots the setpoint, thereby significantly reducing settling times. Moreover, robustness for unknown static friction levels is obtained. A hybrid closed-loop system formulation is derived, and stability follows from a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the controller is illustrated by means of a numerical example.

Original languageEnglish
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers
Number of pages6
ISBN (Print)9781538654286
Publication statusPublished - 9 Aug 2018
Event2018 American Control Conference (ACC 2018) - Hilton Milwaukee City Center Hotel, Milwaukee, Wisconsin, United States
Duration: 27 Jun 201829 Jun 2018


Conference2018 American Control Conference (ACC 2018)
Abbreviated titleACC 2018
Country/TerritoryUnited States
CityMilwaukee, Wisconsin
Internet address


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