- Title
- Optimal integral force feedback and structured PI tracking control: application for high speed confocal microscopy
- Creator
- Teo, Yik R.; Russell, Douglas; Aphale, Sumeet S.; Fleming, Andrew J.
- Relation
- 19th World Congress of the International Federation of Automatic Control (IFAC 2014). Proceedings of the 19th IFAC World Congress, 2014 (Cape Town, South Africa 24-29 August, 2014) p. 11793-11799
- Publisher Link
- http://dx.doi.org/10.3182/20140824-6-ZA-1003.00297
- Publisher
- International Federation of Automatic Control (IFAC)
- Resource Type
- conference paper
- Date
- 2014
- Description
- In this paper, an improvement to Integral Force Feedback (IFF) damping control is proposed. The main limitation of Integral Force Feedback is that the maximum modal damping depends on the system's parameters. Hence, for some system achievable damping is insignificant. The proposed improvement allows any arbitrary damping ratio to be achieved for a system by introducing a new feed-through term in the system. To achieve displacement tracking, one technique is to enclose the system in an integral feedback loop. However, the bandwidth is limited due to the effects of an additional pole in the damping loop. The proposed Structured PI controller is parameterised so that it contains a zero that cancel the additional pole. Experiment was conducted on a commercial objective lens positioner. The results show an exceptional tracking and damping performance and the system's insensitivity to changes in resonance frequency. The maximum bandwidth achievable with a commercial PID controller is 26.1 Hz. In contrast, with the proposed method, the bandwidth is increased to 255 Hz.
- Subject
- force feedback; damping control; nanopositioning
- Identifier
- http://hdl.handle.net/1959.13/1297426
- Identifier
- uon:19444
- Identifier
- ISBN:9783902823625
- Language
- eng
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