No more differentiator in PID: Development of nonlinear lead for precision mechatronics

Arun Palanikumar; Niranjan Saikumar; Hassan Hossein Nia Kani

doi:10.23919/ECC.2018.8550088

No more differentiator in PID: Development of nonlinear lead for precision mechatronics

Arun Palanikumar, Niranjan Saikumar, Hassan Hossein Nia Kani

Mechatronic Systems Design

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

23 Citations (Scopus)

Abstract

Industrial PID consists of three elements: Lag (integrator), Lead (Differentiator) and Low Pass Filters (LPF). PID being a linear control method is inherently bounded by the waterbed effect due to which there exists a trade-off between precision tracking, provided by Lag and LPF on one side and stability robustness, provided by Lead on the other side. Nonlinear reset strategies applied in Lag and LPF elements have been very effective in reducing this trade-off. However, there is lack of study in developing a reset Lead element. In this paper, we develop a novel lead element which provides higher precision and stability compared to the linear lead filter and can be used as a replacement for the same. The concept is presented and validated on a Lorentz-actuated nanometer precision stage. Improvements in precision, tracking and bandwidth are shown through two separate designs. Performance is validated in both time and frequency domain to ensure that phase margin achieved on the practical setup matches design theories.

Original language	English
Title of host publication	Proceedings of 2018 European Control Conference (ECC2018)
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	991-996
ISBN (Electronic)	978-3-9524-2698-2
ISBN (Print)	978-3-9524-2699-9
DOIs	https://doi.org/10.23919/ECC.2018.8550088
Publication status	Published - 2018
Event	16th European Control Conference, ECC 2018 - Limassol, Cyprus Duration: 12 Jun 2018 → 15 Jun 2018 http://www.ecc18.eu/

Conference

Conference	16th European Control Conference, ECC 2018
Abbreviated title	ECC 2018
Country/Territory	Cyprus
City	Limassol
Period	12/06/18 → 15/06/18
Internet address	http://www.ecc18.eu/

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10.23919/ECC.2018.8550088

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title = "No more differentiator in PID: Development of nonlinear lead for precision mechatronics",

abstract = "Industrial PID consists of three elements: Lag (integrator), Lead (Differentiator) and Low Pass Filters (LPF). PID being a linear control method is inherently bounded by the waterbed effect due to which there exists a trade-off between precision tracking, provided by Lag and LPF on one side and stability robustness, provided by Lead on the other side. Nonlinear reset strategies applied in Lag and LPF elements have been very effective in reducing this trade-off. However, there is lack of study in developing a reset Lead element. In this paper, we develop a novel lead element which provides higher precision and stability compared to the linear lead filter and can be used as a replacement for the same. The concept is presented and validated on a Lorentz-actuated nanometer precision stage. Improvements in precision, tracking and bandwidth are shown through two separate designs. Performance is validated in both time and frequency domain to ensure that phase margin achieved on the practical setup matches design theories.",

author = "Arun Palanikumar and Niranjan Saikumar and {Hossein Nia Kani}, Hassan",

year = "2018",

doi = "10.23919/ECC.2018.8550088",

language = "English",

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pages = "991--996",

booktitle = "Proceedings of 2018 European Control Conference (ECC2018)",

publisher = "IEEE",

address = "United States",

note = "16th European Control Conference, ECC 2018, ECC 2018 ; Conference date: 12-06-2018 Through 15-06-2018",

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Palanikumar, A, Saikumar, N & Hossein Nia Kani, H 2018, No more differentiator in PID: Development of nonlinear lead for precision mechatronics. in Proceedings of 2018 European Control Conference (ECC2018)., 8550088, IEEE, Piscataway, NJ, USA, pp. 991-996, 16th European Control Conference, ECC 2018, Limassol, Cyprus, 12/06/18. https://doi.org/10.23919/ECC.2018.8550088

No more differentiator in PID: Development of nonlinear lead for precision mechatronics. / Palanikumar, Arun; Saikumar, Niranjan; Hossein Nia Kani, Hassan.
Proceedings of 2018 European Control Conference (ECC2018). Piscataway, NJ, USA: IEEE, 2018. p. 991-996 8550088.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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N2 - Industrial PID consists of three elements: Lag (integrator), Lead (Differentiator) and Low Pass Filters (LPF). PID being a linear control method is inherently bounded by the waterbed effect due to which there exists a trade-off between precision tracking, provided by Lag and LPF on one side and stability robustness, provided by Lead on the other side. Nonlinear reset strategies applied in Lag and LPF elements have been very effective in reducing this trade-off. However, there is lack of study in developing a reset Lead element. In this paper, we develop a novel lead element which provides higher precision and stability compared to the linear lead filter and can be used as a replacement for the same. The concept is presented and validated on a Lorentz-actuated nanometer precision stage. Improvements in precision, tracking and bandwidth are shown through two separate designs. Performance is validated in both time and frequency domain to ensure that phase margin achieved on the practical setup matches design theories.

AB - Industrial PID consists of three elements: Lag (integrator), Lead (Differentiator) and Low Pass Filters (LPF). PID being a linear control method is inherently bounded by the waterbed effect due to which there exists a trade-off between precision tracking, provided by Lag and LPF on one side and stability robustness, provided by Lead on the other side. Nonlinear reset strategies applied in Lag and LPF elements have been very effective in reducing this trade-off. However, there is lack of study in developing a reset Lead element. In this paper, we develop a novel lead element which provides higher precision and stability compared to the linear lead filter and can be used as a replacement for the same. The concept is presented and validated on a Lorentz-actuated nanometer precision stage. Improvements in precision, tracking and bandwidth are shown through two separate designs. Performance is validated in both time and frequency domain to ensure that phase margin achieved on the practical setup matches design theories.

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No more differentiator in PID: Development of nonlinear lead for precision mechatronics

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