TY - JOUR

T1 - Synthesis of variable gain integral controllers for linear motion systems

AU - Hunnekens, B.G.B.

AU - Wouw, van de, N.

AU - Heertjes, M.F.

AU - Nijmeijer, H.

PY - 2015

Y1 - 2015

N2 - In this paper, we introduce a design framework for variable gain integral controllers with the aim to improve transient performance of linear motion systems. In particular, we focus on the well-known tradeoff introduced by integral action, which removes steady-state errors caused by constant external disturbances, but may deteriorate transient performance in terms of increased overshoot. We propose a class of variable gain integral controllers (VGICs), which limits the amount of integral action if the error exceeds a certain threshold, in order to balance this tradeoff in a more desirable manner. The resulting nonlinear controller consists of a loop-shaped linear controller with a variable gain element. The utilization of linear controllers as a basis for the control design appeals to the intuition of motion control engineers therewith enhancing the applicability. For the add-on part of the nonlinear variable gain part of the controller, we propose an optimization strategy, which enables performance-optimal tuning of the variable gain based on measurement data. The effectiveness of VGIC is demonstrated in practice on a high-precision industrial scanning motion system.

AB - In this paper, we introduce a design framework for variable gain integral controllers with the aim to improve transient performance of linear motion systems. In particular, we focus on the well-known tradeoff introduced by integral action, which removes steady-state errors caused by constant external disturbances, but may deteriorate transient performance in terms of increased overshoot. We propose a class of variable gain integral controllers (VGICs), which limits the amount of integral action if the error exceeds a certain threshold, in order to balance this tradeoff in a more desirable manner. The resulting nonlinear controller consists of a loop-shaped linear controller with a variable gain element. The utilization of linear controllers as a basis for the control design appeals to the intuition of motion control engineers therewith enhancing the applicability. For the add-on part of the nonlinear variable gain part of the controller, we propose an optimization strategy, which enables performance-optimal tuning of the variable gain based on measurement data. The effectiveness of VGIC is demonstrated in practice on a high-precision industrial scanning motion system.

U2 - 10.1109/TCST.2014.2315657

DO - 10.1109/TCST.2014.2315657

M3 - Article

SN - 1063-6536

VL - 23

SP - 139

EP - 149

JO - IEEE Transactions on Control Systems Technology

JF - IEEE Transactions on Control Systems Technology

IS - 1

ER -