TY - JOUR
T1 - Tuning of CgLp based reset controllers
T2 - Application in precision positioning systems
AU - ShirdastBahnamiri, Mahmoud
AU - Karbasizadeh, Nima
AU - Ahmadi Dastjerdi, A.
AU - Saikumar, N.
AU - Hossein Nia Kani, S.H.
PY - 2020
Y1 - 2020
N2 - This paper presents the tuning of a reset-based element called “Constant in gain and Lead in phase” (CgLp) in order to achieve desired precision performance in tracking and steady state. CgLp has been recently introduced to overcome the inherent linear control limitation - the waterbed effect. The analysis of reset controllers including ones based on CgLp is mainly carried out in the frequency domain using describing function with the assumption that the relatively large magnitude of the first harmonic provides a good approximation. While this is true for several cases, the existence of higher-order harmonics in the output of these elements complicates their analysis and tuning in the control design process for high precision motion applications, where they cannot be neglected. While some numerical observation-based approaches have been considered in literature for the tuning of CgLp elements, a systematic approach based on the analysis of higher-order harmonics is found to be lacking. This paper analyzes the CgLp behaviour from the perspective of first as well as higher-order harmonics and presents simple relations between the tuning parameters and the gain-phase behaviour of all the harmonics, which can be used for better tuning of these elements. The presented relations are used for tuning a controller for a high-precision positioning stage and results used for validation.
AB - This paper presents the tuning of a reset-based element called “Constant in gain and Lead in phase” (CgLp) in order to achieve desired precision performance in tracking and steady state. CgLp has been recently introduced to overcome the inherent linear control limitation - the waterbed effect. The analysis of reset controllers including ones based on CgLp is mainly carried out in the frequency domain using describing function with the assumption that the relatively large magnitude of the first harmonic provides a good approximation. While this is true for several cases, the existence of higher-order harmonics in the output of these elements complicates their analysis and tuning in the control design process for high precision motion applications, where they cannot be neglected. While some numerical observation-based approaches have been considered in literature for the tuning of CgLp elements, a systematic approach based on the analysis of higher-order harmonics is found to be lacking. This paper analyzes the CgLp behaviour from the perspective of first as well as higher-order harmonics and presents simple relations between the tuning parameters and the gain-phase behaviour of all the harmonics, which can be used for better tuning of these elements. The presented relations are used for tuning a controller for a high-precision positioning stage and results used for validation.
KW - Nonlinear control
KW - reset control
KW - describing functions
KW - higher-order harmonics
KW - CgLp
UR - http://www.scopus.com/inward/record.url?scp=85107539393&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2020.12.2017
DO - 10.1016/j.ifacol.2020.12.2017
M3 - Conference article
SN - 2405-8963
VL - 53
SP - 8997
EP - 9004
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
IS - 2
ER -