Discrete-time Integral Resonant Control of Negative Imaginary Systems: Application to a High-speed Nanopositioner

2024/06/24 by Kanghong Shi, Erfan Khodabakhshi, Shi, Kanghong +7
Engineering · #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Piezoelectric Actuators and Control #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2406.16263

openalex publication_date 2024/06/24 · openalex created_date 2024/06/26 · openalex updated_date 2026/07/28

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.

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