2020/05/08 by Mahmoud Shirdast Bahnamiri, Nima Karbasizadeh, Bahnamiri, Mahmoud Shirdast +7
Engineering · #Adaptive Control of Nonlinear Systems #FOS: Electrical engineering #Hydraulic and Pneumatic Systems #Iterative Learning Control Systems #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2005.03944
openalex publication_date 2020/05/08 · openalex created_date 2022/07/26 · openalex updated_date 2026/07/28
This paper presents the tuning of a reset-based element called "Constant in\ngain and Lead in phase" (CgLp) in order to achieve desired precision\nperformance in tracking and steady state. CgLp has been recently introduced to\novercome the inherent linear control limitation - the waterbed effect. The\nanalysis of reset controllers including ones based on CgLp is mainly carried\nout in the frequency domain using describing function with the assumption that\nthe relatively large magnitude of the first harmonic provides a good\napproximation. While this is true for several cases, the existence of\nhigher-order harmonics in the output of these elements complicates their\nanalysis and tuning in the control design process for high precision motion\napplications, where they cannot be neglected. While some numerical\nobservation-based approaches have been considered in literature for the tuning\nof CgLp elements, a systematic approach based on the analysis of higher-order\nharmonics is found to be lacking. This paper analyzes the CgLp behaviour from\nthe perspective of first as well as higher-order harmonics and presents simple\nrelations between the tuning parameters and the gain-phase behaviour of all the\nharmonics, which can be used for better tuning of these elements. The presented\nrelations are used for tuning a controller for a high-precision positioning\nstage and results used for validation.\n