Related papers: Tuning of CgLp based reset controllers: Applicatio…
This work presents a novel 'Constant in gain Lead in phase' (CgLp) element using nonlinear reset technique. PID is the industrial workhorse even to this day in high-tech precision positioning applications. However, Bode's gain phase…
Currently, the demand for a better alternative to linear PID controllers is increasing due to the rising expectations of the high-tech industry. In literature, it has been shown that Constant in gain Lead in phase (CgLp) compensators, which…
To address the limitations imposed by Bode's gain-phase relationship in linear controllers, a reset-based filter called the Constant in gain- Lead in phase (CgLp) filter has been introduced. This filter consists of a reset element and a…
This paper addresses the main goal of using reset control in precision motion control systems, breaking of the well-known "Waterbed effect". A new architecture for reset elements will be introduced which has a continuous output signal as…
This paper addresses a phenomenon caused by resetting only one of the two states of a so-called second order "Constant in gain Lead in phase" (CgLp) element. CgLp is a recently introduced reset-based nonlinear element, bound to circumvent…
Due to development of technology, linear controllers cannot satisfy requirements of high-tech industry. One solution is using nonlinear controllers such as reset elements to overcome this big barrier. In literature, the Constant in gain…
This paper proposes a fractional-order reset element whose architecture allows for the suppression of nonlinear effects for a range of frequencies. Suppressing the nonlinear effects of a reset element for the desired frequency range while…
This study introduces a modified version of the Constant-in-Gain, Lead-in-Phase (CgLp) filter, which incorporates a feedthrough term in the First-Order Reset Element (FORE) to reduce the undesirable nonlinearities and achieve an almost…
This paper addresses nonlinearity in reset elements and their effects. Reset elements are known for having less phase lag compared to their linear counterparts; however, they are nonlinear elements and produce higher-order harmonics. This…
This study presents a shaped reset feedback control strategy to enhance the performance of precision motion systems. The approach utilizes a phase-lead compensator as a shaping filter to tune the phase of reset instants, thereby shaping the…
According to the well-known loop shaping method for the design of controllers, the performance of the controllers in terms of step response, steady-state disturbance rejection and noise attenuation and robustness can be improved by…
In this paper, a robust nonlinear control scheme is designed for the motion control of a class of piezo-actuated nano-positioning systems using frequency-domain analysis. The hysteresis, the nonlinearity in the piezoelectric material,…
Piezoelectric nanopositioning systems are often limited by lightly damped structural resonances and the gain--phase constraints of linear feedback, which restrict achievable bandwidth and tracking performance. This paper presents a…
Industrial PID consists of three elements: Lag (integrator), Lead (Differentiator) and Low Pass Filters (LPF). PID being a linear control method is inherently bounded by the waterbed effect due to which there exists a trade-off between…
The precision motion industry has an ever-increasing demand for faster, more precise and more robust controllers. From the perspective of frequency domain and loopshaping technique, this demand has pushed the linear controllers to their…
This paper presents a complex order filter developed and subsequently integrated into a PID-based controller design. The nonlinear filter is designed with reset elements to have describing function based frequency response similar to that…
Reinforcement learning has been successfully applied to the problem of tuning PID controllers in several applications. The existing methods often utilize function approximation, such as neural networks, to update the controller parameters…
This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics. Then, the…
Reset controllers have demonstrated their effectiveness in enhancing performance in precision motion systems. To further exploiting the potential of reset controllers, this study introduces a parallel-partial reset control structure.…
In this paper a new optimum tuning method of PI controllers in first-order time-delay systems, based on the deadbeat response to a step setpoint variation, is presented. The deadbeat performance, already studied for the plants without…