Constant in gain Lead in phase (CgLp) compensators, which are a type of reset elements, have shown high potential to overcome limitations of linear control systems. There are few works which investigate the tuning of these compensators. However, there are some significant drawbacks which make those methods unreliable. First, their analyses are performed in the open-loop configuration which do not guarantee the existence of steady-state response of the closed-loop. If it is guaranteed, unlike linear control systems, open-loop analyses cannot precisely predict the closed-loop steady-state performance. In addition, the stability condition could not be assessed during the tuning process. These significant challenges have been separately solved in our recent works by proposing frequency-domain frameworks for analyzing the closed-loop performance and stability of reset control systems. However, they are not formulated and implemented for tuning CgLp compensators. In this paper, based on the loop-shaping approach, the recent frequency-domain framework and the frequency-domain stability method are utilized to provide a reliable frequency-domain tuning method for CgLp compensators. Finally, different performance metrics of a CgLp compensator, tuned by the proposed method, are compared with those of a PID controller on a precision positioning stage. The results show that this method is effective, and the tuned CgLp can achieve more favorable dynamic performance than the PID controller.
- Constant in gain Lead in phase Compensators
- Control systems
- Frequency-domain analysis
- Frequency-Domain Tuning Method
- Harmonic analysis
- Reset Controllers