Reference-dependent variable-gain control for a nano-positioning motion system

S.J.L.M. van Loon, B.G.B. Hunnekens, A.S. Simon, N. van de Wouw, W.P.M.H. Heemels

Research output: Contribution to journalConference articleAcademicpeer-review

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Abstract

In this paper, we develop a variable-gain (VG) control strategy that allows for a reference-dependent ‘bandwidth’ of the feedback controller. The proposed controller architecture can achieve improved performance given time-varying, reference-dependent performance requirements compared to linear time-invariant control, which suffers from design trade-offs between low-frequency tracking performance and sensitivity to higher-frequency disturbances. The VG controller consists of frequency-domain loop-shaped linear filters and a VG element. The gain of this element depends on reference information and determines the desired reference-dependent bandwidth of the resulting controller. We present data-based frequency-domain conditions to verify stability and convergence of the closed-loop system. The complete controller design process and the ability of the ‘bandwidth-on-demand’ controller to outperform linear time-invariant controllers are illustrated through experiments on an industrial nano-positioning motion system.

Original languageEnglish
Pages (from-to)70-75
Number of pages6
JournalIFAC-PapersOnLine
Volume49
Issue number13
DOIs
Publication statusPublished - 2016

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Gain control
Controllers
Bandwidth
Closed loop systems
Feedback

Keywords

  • bandwidth
  • experiments
  • performance
  • Variable-gain control

Cite this

van Loon, S.J.L.M. ; Hunnekens, B.G.B. ; Simon, A.S. ; van de Wouw, N. ; Heemels, W.P.M.H. / Reference-dependent variable-gain control for a nano-positioning motion system. In: IFAC-PapersOnLine. 2016 ; Vol. 49, No. 13. pp. 70-75.
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Reference-dependent variable-gain control for a nano-positioning motion system. / van Loon, S.J.L.M.; Hunnekens, B.G.B.; Simon, A.S.; van de Wouw, N.; Heemels, W.P.M.H.

In: IFAC-PapersOnLine, Vol. 49, No. 13, 2016, p. 70-75.

Research output: Contribution to journalConference articleAcademicpeer-review

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AB - In this paper, we develop a variable-gain (VG) control strategy that allows for a reference-dependent ‘bandwidth’ of the feedback controller. The proposed controller architecture can achieve improved performance given time-varying, reference-dependent performance requirements compared to linear time-invariant control, which suffers from design trade-offs between low-frequency tracking performance and sensitivity to higher-frequency disturbances. The VG controller consists of frequency-domain loop-shaped linear filters and a VG element. The gain of this element depends on reference information and determines the desired reference-dependent bandwidth of the resulting controller. We present data-based frequency-domain conditions to verify stability and convergence of the closed-loop system. The complete controller design process and the ability of the ‘bandwidth-on-demand’ controller to outperform linear time-invariant controllers are illustrated through experiments on an industrial nano-positioning motion system.

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