Discrete-time Integral Resonant Control of Negative Imaginary Systems: Application to a High-speed Nanopositioner
Systems and Control
2024-06-25 v1 Systems and Control
Optimization and Control
Abstract
We propose a discrete-time integral resonant control (IRC) approach for negative imaginary (NI) systems, which overcomes several limitations of continuous-time IRC. We show that a discrete-time IRC has a step-advanced negative imaginary property. A zero-order hold-sampled NI system can be asymptotically stabilized using a discrete-time IRC with suitable parameters. A hardware experiment is conducted where a high-speed flexure-guided nanopositioner is efficiently damped using the proposed discrete-time IRC with the discrete-time controller being implemented in FPGA hardware at the sampling rate of 1.25 MHz.
Keywords
Cite
@article{arxiv.2406.16263,
title = {Discrete-time Integral Resonant Control of Negative Imaginary Systems: Application to a High-speed Nanopositioner},
author = {Kanghong Shi and Erfan Khodabakhshi and Prosanto Biswas and Ian R. Petersen and S. O. Reza Moheimani},
journal= {arXiv preprint arXiv:2406.16263},
year = {2024}
}
Comments
10 pages, 10 figures