Discrete-time Integral Resonant Control of Negative Imaginary Systems: Application to a High-speed Nanopositioner
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.
- Publication:
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arXiv e-prints
- Pub Date:
- June 2024
- DOI:
- 10.48550/arXiv.2406.16263
- arXiv:
- arXiv:2406.16263
- Bibcode:
- 2024arXiv240616263S
- Keywords:
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- Electrical Engineering and Systems Science - Systems and Control;
- Mathematics - Optimization and Control
- E-Print:
- 10 pages, 10 figures