NDLI: Two degree of freedom control for nanopositioning systems: Fundamental limitations, control design, and related trade-offs

Content Provider	IEEE Xplore Digital Library
Author	Chibum Lee Salapaka, S.M.
Copyright Year	2009
Description	Author affiliation: Department of Mechanical Sciences and Engineering, University of Illinois, Urbana-Champaign, 61801, USA (Chibum Lee; Salapaka, S.M.)
Abstract	This paper studies and analyzes fundamental trade-offs between positioning resolution, tracking bandwidth and robustness to modeling uncertainties in two-degree-of-freedom (2DOF) control designs for nanopositioning systems. The analysis of these systems is done in optimal control setting with various architectural constraints imposed on the 2DOF framework. In terms of these trade-offs, our analysis shows that the primary role of feedback is providing robustness to the closed-loop device whereas the feedforward component is mainly effective in overcoming fundamental algebraic constraints that limit the feedback-only designs. This paper presents (1) an optimal prefilter model matching design for a system with an existing feedback controller and (2) a simultaneous feedforward and feedback control design in an optimal H∞ mixed sensitivity framework. The experimental results on applying these controllers show a significant improvement, as high as 330% increase in bandwidth for similar robustness and resolution level over optimal feedback-only designs. Other performance objectives are similarly improved.We demonstrate that the 2DOF freedom design achieves performance specifications that are analytically impossible for the feedback-only design.
Starting Page	1664
Ending Page	1669
File Size	818694
Page Count	6
File Format	PDF
ISBN	9781424445233
ISSN	07431619
DOI	10.1109/ACC.2009.5160185
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Control systems Nanopositioning Control design Bandwidth Robust control Optimal control Uncertainty Feedback Robustness Adaptive control
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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