Nonlinear Control of a Linear Motion System
| Authors: | Aangenent Wouter, Technische Universiteit Eindhoven, Netherlands
van de Molengraft Rene, Technische Universiteit Eindhoven, Netherlands
Steinbuch Maarten, Technische Universiteit Eindhoven, Netherlands |
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| Topic: | 1.1 Modelling, Identification & Signal Processing |
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| Session: | Identification for Control |
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| Keywords: | nonlinear control, nonlinear gain, SPAN filter, fundamental limitations |
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Abstract
It is well-known that Bode's gain/phase relation imposes limitations on the performance of a linear system. To circumvent these limitations, two examples from literature on nonlinear controllers, more precisely, a PID with nonlinear gain and a SPAN (split-path nonlinear) filter, are implemented on a motion system in order to improve the step response in comparison with a conventional linear PID controller. Simulations and experiments are presented and it is shown that these nonlinear control strategies can outperform a linear PID controller.
