Discrete-time repetitive control with model-less FIR filter inversion for high performance nanopositioning

Teo, Yik R.; Eielsen, Arnfinn A.; Gravdahl, Jan Tommy; Fleming, Andrew J.

doi:10.1109/aim.2014.6878323

Cited by 8 publications

(12 citation statements)

References 22 publications

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“…To increase performance, a zero-phase filter can be used. For a digital implementation, this is possible both for ILC [22] and RC [19]. It is not possible for an analog implementation.…”

Section: Resultsmentioning

confidence: 99%

“…Steps to improve on this situation are discussed in Section 4.2.2. By implementing Q(s) as a linear-phase FIR filter, this problem can be avoided [43,34,19], but is not an option for an analog circuit. By inspection of Fig.…”

Section: Repetitive Control (Rc)mentioning

confidence: 99%

“…Recently, RC has been introduced for nanopositioning systems [16,17,18,19]. For periodic references, due to the invariance to changes in plant dynamics, RC can address the challenges posed by state-of-the-art mechanically stiff nanopositioner-designs.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Low-order continuous-time robust repetitive control: Application in nanopositioning

2015

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A low-order repetitive control (RC) design in continuous-time for nanopositioning applications is presented. It focuses on achieving high performance and sufficient robustness to uncertainties. The design is mainly applicable to analog implementation, but due to the exceptionally low order, it also results in a fast and efficient digital implementation. Experimental results for an analog implementation using a bucket brigade device (BBD), as well as a digital implementation, is presented. RC can provide fast and accurate tracking of periodic reference signals, which is useful in many scanning probe microscopy and nanofabrication applications.

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“…To increase performance, a zero-phase filter can be used. For a digital implementation, this is possible both for ILC [22] and RC [19]. It is not possible for an analog implementation.…”

Section: Resultsmentioning

confidence: 99%

Section: Repetitive Control (Rc)mentioning

confidence: 99%

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Low-order continuous-time robust repetitive control: Application in nanopositioning

2015

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“…For instance, periodic reference signals allow the use of methods such as Repetitive Control [33]. Repetitive control has proven to be effective in tracking triangular waveforms [34][35][36][37][38]. For sinusoidal trajectories, Internal Model Control (IMC) has a low complexity and provides excellent tracking performance for sinusoidal raster scanning, Lissajous scanning [24,26], and spiral scanning [39][40][41].…”

Section: Lateral Control Implicationsmentioning

confidence: 99%

A comparison of scanning methods and the vertical control implications for scanning probe microscopy

Teo¹,

Yong²,

Fleming³

2016

Asian Journal of Control

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This article compares the imaging performance of non-traditional scanning patterns for scanning probe microscopy including sinusoidal raster, spiral, and Lissajous patterns. The metrics under consideration include the probe velocity, scanning frequency, and required sampling rate. The probe velocity is investigated in detail as this quantity is proportional to the required bandwidth of the vertical feedback loop and has a major impact on image quality. By considering a sample with an impulsive Fourier transform, the effect of scanning trajectories on imaging quality can be observed and quantified. The non-linear trajectories are found to spread the topography signal bandwidth which has important implications for both low and high-speed imaging. These effects are studied analytically and demonstrated experimentally with a periodic calibration grating.

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“…The method is based on the internal model principle where an exogenous signal (a reference or disturbance) can be nulled in the error signal if a signal model is contained in the feedback path. RC was developed to reject the periodic disturbances that arise in power supply control , but has since been used for machining , precision positioning , optical drives , electro‐hydraulics , power‐converters , and scanning probe microscopy .…”

Section: Introductionmentioning

confidence: 99%

Improving Robustness Filter Bandwidth in Repetitive Control by Considering Model Mismatch

Eielsen

Teo

Fleming

2016

Asian Journal of Control

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Repetitive control (RC) is used to track and reject periodic signals by including a model of a periodic signal in the feedback path. The performance of RC can be improved by including an inverse plant response filter, but due to modeling uncertainty at high frequencies, a low-pass robustness filter is also required to limit the bandwidth of the signal model and ensure stability. The design of robustness filters is presently ad-hoc, which may result in excessively conservative performance. This article proposes a new automatic method for designing the robustness filter based on convex optimization and an uncertainty model. Experimental results on a nanopositioning system demonstrate that the proposed method outperforms the traditional brick-wall filter approach.

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Discrete-time repetitive control with model-less FIR filter inversion for high performance nanopositioning

Cited by 8 publications

References 22 publications

Low-order continuous-time robust repetitive control: Application in nanopositioning

Low-order continuous-time robust repetitive control: Application in nanopositioning

A comparison of scanning methods and the vertical control implications for scanning probe microscopy

Improving Robustness Filter Bandwidth in Repetitive Control by Considering Model Mismatch

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