Non-parametric robustness analysis for feedback motion control for a high precision stage with large mass uncertainty

Rudolf Saathof*, Thomas Riel, Matthias Bibl, Dominik Kohl, Han Woong Yoo, Georg Schitter

*Corresponding author for this work

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

Abstract

Robust feedback control with large parameter uncertainties in a high precision stage with large sample mass variation is presented. Instead of expressing the nominal plant and its uncertainty by parametric models, they are expressed using the identified frequency response data. The open loop transfer function is mapped onto a Nyquist plot, to assess robust stability. Next, the complementary sensitivity function is derived from this data to describe tracking performance, which is verified by experiments. The advantage is that the parameter estimation step is omitted, without compromising robust stability and performance.

Original languageEnglish
Title of host publication2016 American Control Conference, ACC 2016
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages2611-2616
Number of pages6
ISBN (Electronic)9781467386821
DOIs
Publication statusPublished - 2016
Externally publishedYes
Event2016 American Control Conference, ACC 2016 - Boston, United States
Duration: 6 Jul 20168 Jul 2016

Publication series

NameProceedings of the American Control Conference
Volume2016-July
ISSN (Print)0743-1619

Conference

Conference2016 American Control Conference, ACC 2016
CountryUnited States
CityBoston
Period6/07/168/07/16

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