Bandwidth-on-demand motion control

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

Research output: Contribution to journalArticleScientificpeer-review

3 Citations (Scopus)

Abstract

In this brief, we introduce a "bandwidth-on-demand" variable-gain control (VGC) strategy that allows for a varying bandwidth of the feedback controller. The proposed VGC can achieve improved performance given time-varying, reference-dependent performance requirements compared with linear time-invariant (LTI) control suffering from design tradeoffs between low-frequency tracking performance and sensitivity to higher-frequency disturbances. The VGC consists of frequency-domain loop-shaped linear filters and a variable-gain element, which depends on reference information. We present easy-to-use controller design guidelines and data-based frequency-domain conditions to verify stability and convergence of the closed-loop system. Moreover, the ability of the ``bandwidth-on-demand'' controller to outperform LTI controllers is emphasized through experiments on an industrial nanopositioning motion stage.
Original languageEnglish
Pages (from-to)265-273
JournalIEEE Transactions on Control Systems Technology
Volume26 (2018)
Issue number1
DOIs
Publication statusPublished - 2017

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