Scheduled controller design for systems with two switching sensor configurations: a frequency-domain approach

S.J.L.M. van Loon, R. van der Weijst, M.F. Heertjes, W.P.M.H. Heemels

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)
11 Downloads (Pure)

Abstract

In this paper, we consider a hybrid system consisting of a motion stage that exhibits, from a control point-of-view, position-dependent dynamics as a result of varying sensor configurations. A scheduled controller design is proposed that is intuitive for control engineers as all individual filters can be obtained using classical frequency-domain loop-shaping techniques thereby connecting to the industrial motion control practice. Moreover, data-based graphical conditions are provided in the frequency-domain under which closed-loop stability can be verified irrespective of how the switching between the controllers occurs in time. The effectiveness of the proposed scheduling technique, as a way to improve both transient and steady-state performance compared to the current state-of-the-art industrial control solution, is demonstrated by means of experiments on a high-precision industrial motion stage.
Original languageEnglish
Pages (from-to)99-104
Number of pages6
JournalIFAC-PapersOnLine
Volume48
Issue number27
DOIs
Publication statusPublished - 2015
Event5th IFAC Conference on Analysis and Design of Hybrid Systems, ADHS 2015 - Atlanta, United States
Duration: 14 Oct 201516 Oct 2015
Conference number: 5
http://adhs15.gatech.edu/

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