Negative Imaginary Control Using Hybrid Integrator-Gain Systems: Application to MEMS Nanopositioner
Abstract
In this paper, we propose a new approach to address the control problem for negative imaginary (NI) systems by using hybrid integrator-gain systems (HIGS). We investigate the single HIGS of its original form and its two variations, including a multi-HIGS and the serial cascade of two HIGS. A single HIGS is shown to be a nonlinear negative imaginary system, and so is the multi-HIGS and the cascade of two HIGS. We show that these three types of HIGS can be used as controllers to asymptotically stabilize linear NI systems. The results of this paper are then illustrated in a real-world experiment where a 2-DOF microelectromechanical system nanopositioner is stabilized by a multi-HIGS.
Cite
@article{arxiv.2310.15828,
title = {Negative Imaginary Control Using Hybrid Integrator-Gain Systems: Application to MEMS Nanopositioner},
author = {Kanghong Shi and Nastaran Nikooienejad and Ian R. Petersen and S. O. Reza Moheimani},
journal= {arXiv preprint arXiv:2310.15828},
year = {2023}
}
Comments
13 pages, 9 figures. Accepted for publication as a Full Paper in the IEEE Transactions on Control Systems Technology (TCST)