Complex order control for improved loop-shaping in precision positioning

Niranjan Saikumar, Duarte Valerio, S. Hassan Hosseinnia

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

6 Citations (Scopus)
17 Downloads (Pure)

Abstract

This paper presents a complex order filter developed and subsequently integrated into a PID-based controller design. The nonlinear filter is designed with reset elements to have describing function based frequency response similar to that of a linear (practically non-implementable) complex order filter. This allows for a design which has a negative gain slope and a corresponding positive phase slope as desired from a loopshaping controller-design perspective. This approach enables improvement in precision tracking without compromising the bandwidth or stability requirements. The proposed designs are tested on a planar precision positioning stage and performance compared with PID and other state-of-the-art reset based controllers to showcase the advantages of this filter.

Original languageEnglish
Title of host publicationProceedings of the IEEE 58th Conference on Decision and Control, CDC 2019
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages7956-7962
ISBN (Electronic)978-1-7281-1398-2
DOIs
Publication statusPublished - 2019
EventIEEE 58th Conference on Decision and Control, CDC 2019 - Nice, France
Duration: 11 Dec 201913 Dec 2019

Conference

ConferenceIEEE 58th Conference on Decision and Control, CDC 2019
CountryFrance
CityNice
Period11/12/1913/12/19

Bibliographical note

Accepted Author Manuscript

Keywords

  • Lead
  • Gain
  • Harmonic analysis
  • Poles and zeros
  • Shape
  • Steady-state
  • Frequency-domain analysis

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