Split-path nonlinear integral control for transient performance improvement. (April 2016)

• Record Type: Journal Article
• Authors: van Loon, S.J.L.M.; Hunnekens, B.G.B.; Heemels, W.P.M.H.; van de Wouw, N.; Nijmeijer, H.
• Is Part Of: Automatica. Volume 66(2016)
• Page Start: 262
• Page End: 270
• Publication Date: 2016-04
• Subjects: Transient performance -- Split-path nonlinear control -- Stability -- Hybrid control -- Motion control; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2016.01.005
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: In this paper, we introduce the split-path nonlinear integrator (SPANI) as a novel nonlinear filter designed to improve the transient performance of linear systems in terms of overshoot, while preserving good rise-time and settling behavior. In particular, this nonlinear controller targets the well-known trade-off induced by integral action, which removes steady-state errors due to constant external disturbances, but deteriorates transient performance in terms of increased overshoot. The rationale behind the proposed SPANI filter is to ensure that the integral action has, at all times, the same sign as the closed-loop error signal, which, as we will show, enables a reduction in overshoot thereby leading to an overall improved transient performance. The resulting closed-loop dynamics is modeled by a hybrid dynamical system, for which we provide sufficient Lyapunov-based conditions for stability. Furthermore, we illustrate the effectiveness, the design and the tuning of the proposed controller in a benchmark simulation study of an industrial pick-and-place machine.