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Many powerful tools exist for control design in the frequency domain, but are theoretically only justified for linear systems. On the other hand, nonlinear control deals with control design methodologies that are theoretically justified for a larger and more realistic class of systems, but primarily dealing with stability and to a lesser extent with performance. In this technical note a standard linear...
In this paper an introduction and motivation is given towards an integrated design approach for motion systems using overactuation. Looking to motion systems and their history, the current status of mechatronic motion systems is discussed. One of the main aspects that limit performance in mechanical systems is the presence of vibrations. An overview is presented of several passive and active methods...
In this paper a standard notch filter is modeled in the port-Hamiltonian framework. By having such a port-Hamiltonian description it is proven that the notch filter is a passive system. The notch filter can then be interconnected with another (nonlinear) port-Hamiltonian system, while preserving the overall passivity property. By doing so we can combine a frequency-based control method, the notch...
Non-stationary disturbances in motion systems generally limit the closed-loop performance. If these disturbance can be measured, this measurement can be used to enable a linear parameter varying (LPV) controller to adapt itself to the current operating condition, resulting in a closed-loop system with an overall increased performance. In this paper, this idea is applied to an active vibration isolation...
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