Reference-dependent variable-gain control for a nano-positioning motion system*. Issue 13 (2016)

• Record Type: Journal Article
• Authors: van Loon, S.J.L.M.; Hunnekens, B.G.B.; Simon, A.S.; van de Wouw, N.; Heemels, W.P.M.H.
• Is Part Of: IFAC-PapersOnLine. Volume 49:Issue 13(2016)
• Page Start: 70
• Page End: 75
• Publication Date: 2016
• Subjects: Variable-gain control -- bandwidth -- performance -- experiments; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2016.07.929
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, we develop a variable-gain (VG) control strategy that allows for a reference-dependent 'bandwidth' of the feedback controller. The proposed controller architecture can achieve improved performance given time-varying, reference-dependent performance requirements compared to linear time-invariant control, which suffers from design trade-offs between low-frequency tracking performance and sensitivity to higher-frequency disturbances. The VG controller consists of frequency-domain loop-shaped linear filters and a VG element. The gain of this element depends on reference information and determines the desired reference-dependent bandwidth of the resulting controller. We present data-based frequency-domain conditions to verify stability and convergence of the closed-loop system. The complete controller design process and the ability of the 'bandwidth-on-demand' controller to outperform linear time-invariant controllers are illustrated through experiments on an industrial nano-positioning motion system.