Discrete-time Integral Resonant Control of Negative Imaginary Systems: Application to a High-speed Nanopositioner
<|reference_start|>Discrete-time Integral Resonant Control of Negative Imaginary Systems: Application to a High-speed Nanopositioner: We propose a discrete-time integral resonant control (IRC) approach for negative imaginary (NI) systems, which overcomes several limitations of continuous-time IRC. We show that a discrete-time IRC has a step-advanced negative imaginary property. A zero-order hold-sampled NI system can be asymptotically stabilized using a discrete-time IRC with suitable parameters. A hardware experiment is conducted where a high-speed flexure-guided nanopositioner is efficiently damped using the proposed discrete-time IRC with the discrete-time controller being implemented in FPGA hardware at the sampling rate of 1.25 MHz.<|reference_end|>
@article{shi2024discrete-time,
    title={Discrete-time Integral Resonant Control of Negative Imaginary Systems:
  Application to a High-speed Nanopositioner},
    author={Kanghong Shi, Erfan Khodabakhshi, Prosanto Biswas, Ian R. Petersen, S.
  O. Reza Moheimani},
    journal={arXiv preprint arXiv:2406.16263},
    year={2024},
    archivePrefix={arXiv},
    eprint={2406.16263},
    primaryClass={eess.SY cs.SY math.OC}
}