Scheduled controller design for systems with two switching sensor configurations: A frequency-domain approach*. Issue 27 (2015)

• Record Type: Journal Article
• Authors: Loon, S.J.L.M. van; Weijst, R. van der; Heertjes, M.F.; Heemels, W.P.M.H.
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 27(2015)
• Page Start: 99
• Page End: 104
• Publication Date: 2015
• Subjects: Switched systems -- frequency-domain loop-shaping -- circle criterion -- input-to-state stability -- applications; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.11.159
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, we consider a hybrid system consisting of a motion stage that exhibits, from a control point-of-view, position-dependent dynamics as a result of varying sensor configurations. A scheduled controller design is proposed that is intuitive for control engineers as all individual filters can be obtained using classical frequency-domain loop-shaping techniques thereby connecting to the industrial motion control practice. Moreover, data-based graphical conditions are provided in the frequency-domain under which closed-loop stability can be verified irrespective of how the switching between the controllers occurs in time. The effectiveness of the proposed scheduling technique, as a way to improve both transient and steady-state performance compared to the current state-of-the-art industrial control solution, is demonstrated by means of experiments on a high-precision industrial motion stage.