Continuous gain scheduling control for a micro-positioning system: simple, robust and no overshoot response

摘要

Continuous gain scheduling control is proposed for a micro-positioning system. Controllers should be adapted according to the task. In fine positioning regions, the controller gain should be large enough to reject the disturbance and to maintain high-precision positioning. In coarse positioning regions, since the reference input is large, the controller gain should be small in order to avoid the controller saturation. The simple continuous function of gain versus displacement error is derived based on the robust controller. From the simulation and experimental results, continuous gain scheduling control provides a better response than fixed gain control in disturbance rejection and settling time. It also brings robustness to system uncertainty and prevents overshoot responses.