Positive velocity and position feedback (PVPF) is a widely used control scheme in lightly damped resonant systems with collocated sensor actuator pairs. The popularity of PVPF is due to the ability to achieve a chosen damping ratio by repositioning the poles of the system. The addition of a tracking controller, to reduce the effects of inherent nonlinearities, causes the poles to deviate from the intended location and can be a detriment to the damping achieved. By designing the PVPF and tracking controllers simultaneously, the optimal damping and tracking can be achieved. Simulations show full damping of the first resonance mode and significantly higher bandwidth than that achieved using the traditional PVPF design method, allowing for high-speed scanning with accurate tracking. Experimental results are also provided to verify performance in implementation.
Simultaneous Optimization of Damping and Tracking Controller Parameters Via Selective Pole Placement for Enhanced Positioning Bandwidth of Nanopositioners
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 18, 2014; final manuscript received April 29, 2015; published online July 10, 2015. Assoc. Editor: Srinivasa M. Salapaka.
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Russell, D., Fleming, A. J., and Aphale, S. S. (July 10, 2015). "Simultaneous Optimization of Damping and Tracking Controller Parameters Via Selective Pole Placement for Enhanced Positioning Bandwidth of Nanopositioners." ASME. J. Dyn. Sys., Meas., Control. October 2015; 137(10): 101004. https://doi.org/10.1115/1.4030723
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