TY - JOUR
T1 - Bandwidth-on-demand motion control
AU - van Loon, S.J.L.M.
AU - Hunnekens, B.G.B.
AU - Simon, A.
AU - van de Wouw, Nathan
AU - Heemels, W.P.M.H.
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
U2 - 10.1109/TCST.2017.2658192
DO - 10.1109/TCST.2017.2658192
M3 - Article
SN - 1063-6536
VL - 26 (2018)
SP - 265
EP - 273
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 1
ER -