On the Stability properties of P(I)D-controlled motion systems

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

2 Citations (Scopus)

Abstract

For motion controller design, the reduced plant model is used in which high frequency dynamics are neglected. However, the maximum achievable closed-loop bandwidth is limited by the very same dynamics. The extent of their influence depends of the character of the high frequency modes. Another aspect that has an impact on the stability of the closed-loop system, is the damping present in the plant. The influence of the type of high frequency dynamics, the damping thereof, and the P(I)D controller bandwidth on the closed-loop stability is addressed in this paper. The results provide the reader with design rules of thumbs concerning the maximum achievable cross-over frequency.
Original languageUndefined
Title of host publication5th IFAC Symposium on Mechatronic Systems
Place of PublicationUSA
PublisherIFAC
Pages473-477
Number of pages5
ISBN (Print)978-3-902661-76-0
DOIs
Publication statusPublished - 13 Sep 2010
Event5th IFAC Symposium on Mechatronic Systems, IFACMech 2010 - Cambridge, United States
Duration: 13 Sep 201015 Sep 2010
Conference number: 5
https://engineering.purdue.edu/IFACMech10/

Publication series

Name
PublisherIFAC

Conference

Conference5th IFAC Symposium on Mechatronic Systems, IFACMech 2010
Abbreviated titleIFACMech
CountryUnited States
CityCambridge
Period13/09/1015/09/10
Internet address

Keywords

  • METIS-276149
  • Motion Control
  • Damping
  • Crossover frequency
  • EWI-18823
  • Bandwidth
  • PID control
  • Stability
  • Root locus
  • IR-75222

Cite this

Babakhani, B., & de Vries, T. J. A. (2010). On the Stability properties of P(I)D-controlled motion systems. In 5th IFAC Symposium on Mechatronic Systems (pp. 473-477). USA: IFAC. https://doi.org/10.3182/20100913-3-US-2015.00044
Babakhani, B. ; de Vries, Theodorus J.A. / On the Stability properties of P(I)D-controlled motion systems. 5th IFAC Symposium on Mechatronic Systems. USA : IFAC, 2010. pp. 473-477
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title = "On the Stability properties of P(I)D-controlled motion systems",
abstract = "For motion controller design, the reduced plant model is used in which high frequency dynamics are neglected. However, the maximum achievable closed-loop bandwidth is limited by the very same dynamics. The extent of their influence depends of the character of the high frequency modes. Another aspect that has an impact on the stability of the closed-loop system, is the damping present in the plant. The influence of the type of high frequency dynamics, the damping thereof, and the P(I)D controller bandwidth on the closed-loop stability is addressed in this paper. The results provide the reader with design rules of thumbs concerning the maximum achievable cross-over frequency.",
keywords = "METIS-276149, Motion Control, Damping, Crossover frequency, EWI-18823, Bandwidth, PID control, Stability, Root locus, IR-75222",
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Babakhani, B & de Vries, TJA 2010, On the Stability properties of P(I)D-controlled motion systems. in 5th IFAC Symposium on Mechatronic Systems. IFAC, USA, pp. 473-477, 5th IFAC Symposium on Mechatronic Systems, IFACMech 2010, Cambridge, United States, 13/09/10. https://doi.org/10.3182/20100913-3-US-2015.00044

On the Stability properties of P(I)D-controlled motion systems. / Babakhani, B.; de Vries, Theodorus J.A.

5th IFAC Symposium on Mechatronic Systems. USA : IFAC, 2010. p. 473-477.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

TY - GEN

T1 - On the Stability properties of P(I)D-controlled motion systems

AU - Babakhani, B.

AU - de Vries, Theodorus J.A.

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PY - 2010/9/13

Y1 - 2010/9/13

N2 - For motion controller design, the reduced plant model is used in which high frequency dynamics are neglected. However, the maximum achievable closed-loop bandwidth is limited by the very same dynamics. The extent of their influence depends of the character of the high frequency modes. Another aspect that has an impact on the stability of the closed-loop system, is the damping present in the plant. The influence of the type of high frequency dynamics, the damping thereof, and the P(I)D controller bandwidth on the closed-loop stability is addressed in this paper. The results provide the reader with design rules of thumbs concerning the maximum achievable cross-over frequency.

AB - For motion controller design, the reduced plant model is used in which high frequency dynamics are neglected. However, the maximum achievable closed-loop bandwidth is limited by the very same dynamics. The extent of their influence depends of the character of the high frequency modes. Another aspect that has an impact on the stability of the closed-loop system, is the damping present in the plant. The influence of the type of high frequency dynamics, the damping thereof, and the P(I)D controller bandwidth on the closed-loop stability is addressed in this paper. The results provide the reader with design rules of thumbs concerning the maximum achievable cross-over frequency.

KW - METIS-276149

KW - Motion Control

KW - Damping

KW - Crossover frequency

KW - EWI-18823

KW - Bandwidth

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KW - Stability

KW - Root locus

KW - IR-75222

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BT - 5th IFAC Symposium on Mechatronic Systems

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Babakhani B, de Vries TJA. On the Stability properties of P(I)D-controlled motion systems. In 5th IFAC Symposium on Mechatronic Systems. USA: IFAC. 2010. p. 473-477 https://doi.org/10.3182/20100913-3-US-2015.00044