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Tuning of Constant in gain Lead in phase (CgLp) Reset Controller using higher-order sinusoidal input describing function (HOSIDF)

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Document pages: 6 pages

Abstract: Due to development of technology, linear controllers cannot satisfyrequirements of high-tech industry. One solution is using nonlinear controllerssuch as reset elements to overcome this big barrier. In literature, theConstant in gain Lead in phase (CgLp) compensator is a novel reset elementdeveloped to overcome the inherent linear controller limitations. However, atuning guideline for these controllers has not been proposed so far. In thispaper, a recently developed method named higher-order sinusoidal inputdescribing function (HOSIDF), which gives deeper insight into the frequencybehaviour of non-linear controllers compared to sinusoidal input describingfunction (DF), is used to obtain a straight-forward tuning method for CgLpcompensators. In this respect, comparative analyses on tracking performance ofthese compensators are carried out. Based on these analyses, tuning guidelinesfor CgLp compensators are developed and validated on a high-tech precisionpositioning stage. The results show the effectiveness of the developed tuningmethod.

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