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

B. Babakhani; Theodorus J.A. de Vries

doi:10.3182/20100913-3-US-2015.00044

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

B. Babakhani
, Theodorus J.A. de Vries

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

2 Citations (Scopus)

3 Downloads (Pure)

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 language	Undefined
Title of host publication	5th IFAC Symposium on Mechatronic Systems
Place of Publication	USA
Publisher	IFAC
Pages	473-477
Number of pages	5
ISBN (Print)	978-3-902661-76-0
DOIs	https://doi.org/10.3182/20100913-3-US-2015.00044
Publication status	Published - 13 Sept 2010
Event	5th IFAC Symposium on Mechatronic Systems, IFACMech 2010 - Cambridge, United States Duration: 13 Sept 2010 → 15 Sept 2010 Conference number: 5 https://engineering.purdue.edu/IFACMech10/

Publication series

Name
Publisher	IFAC

Conference

Conference	5th IFAC Symposium on Mechatronic Systems, IFACMech 2010
Abbreviated title	IFACMech
Country/Territory	United States
City	Cambridge
Period	13/09/10 → 15/09/10
Internet address	https://engineering.purdue.edu/IFACMech10/

Keywords

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

Access to Document

10.3182/20100913-3-US-2015.00044

http://eprints.eemcs.utwente.nl/secure2/18823/01/Published_paper_IFAC10.pdf

Cite this

@inproceedings{b82c06e8174b498dbeb8de83455b69db,

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",

author = "B. Babakhani and \{de Vries\}, \{Theodorus J.A.\}",

note = "10.3182/20100913-3-US-2015.00044 ; 5th IFAC Symposium on Mechatronic Systems, IFACMech 2010 ; Conference date: 13-09-2010 Through 15-09-2010",

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doi = "10.3182/20100913-3-US-2015.00044",

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isbn = "978-3-902661-76-0",

publisher = "IFAC",

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

AU - Babakhani, B.

AU - de Vries, Theodorus J.A.

N1 - Conference code: 5

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

KW - PID control

KW - Stability

KW - Root locus

KW - IR-75222

U2 - 10.3182/20100913-3-US-2015.00044

DO - 10.3182/20100913-3-US-2015.00044

M3 - Conference contribution

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EP - 477

BT - 5th IFAC Symposium on Mechatronic Systems

PB - IFAC

CY - USA

T2 - 5th IFAC Symposium on Mechatronic Systems, IFACMech 2010

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