Filtered Split-Path Nonlinear Integrator (F-SPANI) for improved transient performance

A Maas, N. Van De Wouw, W. P Maurice H Heemels

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

1 Citation (Scopus)


The recently introduced Split-Path Nonlinear Integrator (SPANI) is designed to improve the transient performance of linear (motion) systems in terms of overshoot. The SPANI was shown to be an effective nonlinear controller to improve transient performance by enforcing the same sign in the integrator action and the error. However, to avoid (fast) switching in the control input in steady-state, conservatism had to be introduced in the SPANI design, thereby limiting the performance. In this paper, this conservatism is removed by introducing a new design, called the Filtered Split-Path Nonlinear Integrator (F-SPANI). This design is based on the inclusion of an additional filter in the phase path, which enables the full potential behind the main idea of the SPANI. The ease of the design and implementation and the potential of the proposed controller are illustrated both in simulation and in experiments on a motion system.

Original languageEnglish
Title of host publicationProceedings 2017 American Control Conference (ACC 2017)
EditorsJing Sun, Zhongping Jiang
Place of PublicationPiscataway, NJ, USA
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
ISBN (Electronic)9781509059928
Publication statusPublished - 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: 24 May 201726 May 2017


Conference2017 American Control Conference, ACC 2017
Abbreviated titleACC 2017
Country/TerritoryUnited States


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