Scheduled controller design for systems with two switching sensor configurations: A frequency-domain approach*

https://doi.org/10.1016/j.ifacol.2015.11.159Get rights and content

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.

Keywords

Switched systems
frequency-domain loop-shaping
circle criterion
input-to-state stability
applications

Cited by (0)

*

This work is supported by the Dutch Technology Foundation (STW) under project “HyperMotion: Hybrid Control for Performance Improvement of Linear Motion Systems” (no. 10953).

View Abstract