156 research outputs found
Converse negative imaginary theorems
Converse negative imaginary theorems for linear time-invariant systems are
derived. In particular, we provide necessary and sufficient conditions for a
feedback system to be robustly stable against various types of negative
imaginary (NI) uncertainty. Both marginally stable and exponentially stable
uncertain NI systems with restrictions on their static or instantaneous gains
are considered. It is shown that robust stability against the former class
entails the well-known strict NI property, whereas the latter class entails a
new type of output strict NI property that is hitherto unexplored. We also
establish a non-existence result that no stable system can robustly stabilise
all marginally stable NI uncertainty, thereby showing that the uncertainty
class of NI systems is too large as far as robust feedback stability is
concerned, thus justifying the consideration of subclasses of NI systems with
constrained static or instantaneous gains.Comment: This paper has been submitted for possible publication at Automatic
A direct proof of the equivalence of side conditions for strictly positive real matrix transfer functions
International audienceThis brief note proves in a direct way that two different side conditions, which have been used in the literature to characterize strictly positive real matrix transfer functions in the frequency domain, are equivalent
Feedforward/feedback multivariable control design for high speed nanopositioning
This paper proposes a two degree of freedom
control using a combined feedforward/feedback architecture
for MIMO nanopositioning stages. The proposed control system provides higher bandwidth and better performance compared with a single degree of freedom feedback controller. The paper proposes a systematic synthesis methodology to design the controller based on closed loop performance. The results are verified via simulation and hardware experiment
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