Complex order control for improved loop-shaping in precision positioning

Niranjan Saikumar; Duarte Valerio; S. Hassan Hosseinnia

doi:10.1109/CDC40024.2019.9030150

Complex order control for improved loop-shaping in precision positioning

Niranjan Saikumar, Duarte Valerio, S. Hassan Hosseinnia

Mechatronic Systems Design

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

11 Citations (Scopus)

60 Downloads (Pure)

Abstract

This paper presents a complex order filter developed and subsequently integrated into a PID-based controller design. The nonlinear filter is designed with reset elements to have describing function based frequency response similar to that of a linear (practically non-implementable) complex order filter. This allows for a design which has a negative gain slope and a corresponding positive phase slope as desired from a loopshaping controller-design perspective. This approach enables improvement in precision tracking without compromising the bandwidth or stability requirements. The proposed designs are tested on a planar precision positioning stage and performance compared with PID and other state-of-the-art reset based controllers to showcase the advantages of this filter.

Original language	English
Title of host publication	Proceedings of the IEEE 58th Conference on Decision and Control, CDC 2019
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	7956-7962
ISBN (Electronic)	978-1-7281-1398-2
DOIs	https://doi.org/10.1109/CDC40024.2019.9030150
Publication status	Published - 2019
Event	IEEE 58th Conference on Decision and Control, CDC 2019 - Nice, France Duration: 11 Dec 2019 → 13 Dec 2019

Conference

Conference	IEEE 58th Conference on Decision and Control, CDC 2019
Country/Territory	France
City	Nice
Period	11/12/19 → 13/12/19

Bibliographical note

Accepted Author Manuscript

Keywords

Lead
Gain
Harmonic analysis
Poles and zeros
Shape
Steady-state
Frequency-domain analysis

Access to Document

10.1109/CDC40024.2019.9030150

CDC 2019Accepted author manuscript, 1.25 MB

Cite this

@inproceedings{038384cc8d2843e5b74148419805d517,

title = "Complex order control for improved loop-shaping in precision positioning",

abstract = "This paper presents a complex order filter developed and subsequently integrated into a PID-based controller design. The nonlinear filter is designed with reset elements to have describing function based frequency response similar to that of a linear (practically non-implementable) complex order filter. This allows for a design which has a negative gain slope and a corresponding positive phase slope as desired from a loopshaping controller-design perspective. This approach enables improvement in precision tracking without compromising the bandwidth or stability requirements. The proposed designs are tested on a planar precision positioning stage and performance compared with PID and other state-of-the-art reset based controllers to showcase the advantages of this filter.",

keywords = "Lead, Gain, Harmonic analysis, Poles and zeros, Shape, Steady-state, Frequency-domain analysis",

author = "Niranjan Saikumar and Duarte Valerio and Hosseinnia, {S. Hassan}",

note = "Accepted Author Manuscript; IEEE 58th Conference on Decision and Control, CDC 2019 ; Conference date: 11-12-2019 Through 13-12-2019",

year = "2019",

doi = "10.1109/CDC40024.2019.9030150",

language = "English",

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booktitle = "Proceedings of the IEEE 58th Conference on Decision and Control, CDC 2019",

publisher = "IEEE",

address = "United States",

}

Complex order control for improved loop-shaping in precision positioning. / Saikumar, Niranjan; Valerio, Duarte; Hosseinnia, S. Hassan.
Proceedings of the IEEE 58th Conference on Decision and Control, CDC 2019. Piscataway, NJ, USA: IEEE, 2019. p. 7956-7962.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Complex order control for improved loop-shaping in precision positioning

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AU - Valerio, Duarte

AU - Hosseinnia, S. Hassan

N1 - Accepted Author Manuscript

PY - 2019

Y1 - 2019

N2 - This paper presents a complex order filter developed and subsequently integrated into a PID-based controller design. The nonlinear filter is designed with reset elements to have describing function based frequency response similar to that of a linear (practically non-implementable) complex order filter. This allows for a design which has a negative gain slope and a corresponding positive phase slope as desired from a loopshaping controller-design perspective. This approach enables improvement in precision tracking without compromising the bandwidth or stability requirements. The proposed designs are tested on a planar precision positioning stage and performance compared with PID and other state-of-the-art reset based controllers to showcase the advantages of this filter.

AB - This paper presents a complex order filter developed and subsequently integrated into a PID-based controller design. The nonlinear filter is designed with reset elements to have describing function based frequency response similar to that of a linear (practically non-implementable) complex order filter. This allows for a design which has a negative gain slope and a corresponding positive phase slope as desired from a loopshaping controller-design perspective. This approach enables improvement in precision tracking without compromising the bandwidth or stability requirements. The proposed designs are tested on a planar precision positioning stage and performance compared with PID and other state-of-the-art reset based controllers to showcase the advantages of this filter.

KW - Lead

KW - Gain

KW - Harmonic analysis

KW - Poles and zeros

KW - Shape

KW - Steady-state

KW - Frequency-domain analysis

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DO - 10.1109/CDC40024.2019.9030150

M3 - Conference contribution

AN - SCOPUS:85082439733

SP - 7956

EP - 7962

BT - Proceedings of the IEEE 58th Conference on Decision and Control, CDC 2019

PB - IEEE

CY - Piscataway, NJ, USA

T2 - IEEE 58th Conference on Decision and Control, CDC 2019

Y2 - 11 December 2019 through 13 December 2019

ER -

Complex order control for improved loop-shaping in precision positioning

Abstract

Conference

Bibliographical note

Keywords

Access to Document

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Cite this