A Mathematical Approach to Integral Resonant Control of Second-order Systems
Systems with colocated sensor-actuator pairs exhibit an interesting property of pole-zero interlacing. Integral Resonant Control (IRC) exploits this property to result in superior damping performance over multiple resonant modes by prescribing an adequate feed-through term to swap the polezero interlacing to a zero-pole one - thus enabling a simple integral feedback controller to add substantial damping to the system. Over the past few years, the IRC has proved extremely popular and versatile and has been applied to damp the resonance in a variety of systems. So far, a simulationbased manual search has been used to determine the three main parameters of the IRC scheme namely: (i) feed-through term, d, (ii) integral gain, k and (iii) resulting damping, ζ. In this paper, a full quanti.cation of the effect of feed-through term on secondorder colocated systems as well as a mathematical formulation for the relation between the feed-through term, integral gain and achievable damping are presented. These results add to the current understanding regarding the behaviour of colocated systems and facilitate the IRC design for a speci.ed damping.
Colocated systems damping Integral Resonant Control nanopositioning
Mohammad Namavar Majid Aleyaasin K. Nakkeeran Sumeet S. Aphale
School of Engineering, University of Aberdeen,Aberdeen, AB24 3UE, UK.Centre forApplied Dynamics Rese School of Engineering, University of Aberdeen,Aberdeen, AB24 3UE, UK. School of Engineering, University of Aberdeen, Aberdeen, AB24 3UE, UK.Centre for Applied Dynamics Re
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
700-705
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）