Reset integral control for improved settling of PID-based motion systems with friction

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

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Abstract

We present a reset control approach to improve the transient performance of a PID-controlled motion system subject to Coulomb and viscous friction. A reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the solution overshoots the setpoint, thereby significantly reducing the settling time. Robustness for unknown static friction levels is obtained. The closed-loop system is formulated through a hybrid systems framework, within which stability is proven using a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the proposed reset controller is analyzed in an experimental benchmark study of an industrial high-precision positioning machine.

Original languageEnglish
Pages (from-to)483-492
Number of pages10
JournalAutomatica
Volume107
DOIs
Publication statusPublished - 1 Sep 2019

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Friction
Invariance
Hybrid systems
Closed loop systems
Controllers

Keywords

  • Friction
  • Hybrid control
  • Motion control
  • Stability
  • Transient performance

Cite this

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title = "Reset integral control for improved settling of PID-based motion systems with friction",
abstract = "We present a reset control approach to improve the transient performance of a PID-controlled motion system subject to Coulomb and viscous friction. A reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the solution overshoots the setpoint, thereby significantly reducing the settling time. Robustness for unknown static friction levels is obtained. The closed-loop system is formulated through a hybrid systems framework, within which stability is proven using a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the proposed reset controller is analyzed in an experimental benchmark study of an industrial high-precision positioning machine.",
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Reset integral control for improved settling of PID-based motion systems with friction. / Beerens, R. (Corresponding author); Bisoffi, A.; Zaccarian, L.; Heemels, W.P.M.H.; Nijmeijer, H.; van de Wouw, N.

In: Automatica, Vol. 107, 01.09.2019, p. 483-492.

Research output: Contribution to journalArticleAcademicpeer-review

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T1 - Reset integral control for improved settling of PID-based motion systems with friction

AU - Beerens, R.

AU - Bisoffi, A.

AU - Zaccarian, L.

AU - Heemels, W.P.M.H.

AU - Nijmeijer, H.

AU - van de Wouw, N.

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AB - We present a reset control approach to improve the transient performance of a PID-controlled motion system subject to Coulomb and viscous friction. A reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the solution overshoots the setpoint, thereby significantly reducing the settling time. Robustness for unknown static friction levels is obtained. The closed-loop system is formulated through a hybrid systems framework, within which stability is proven using a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the proposed reset controller is analyzed in an experimental benchmark study of an industrial high-precision positioning machine.

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KW - Hybrid control

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