Sq. Lee et al., Continuous gain scheduling control for a micro-positioning system: simple,robust and no overshoot response, CON ENG PR, 8(2), 2000, pp. 133-138
Continuous gain scheduling control is proposed for a micro-positioning syst
em. Controllers should be adapted according to the task. In fine positionin
g regions, the controller gain should be large enough to reject the disturb
ance and to maintain high-precision positioning. In coarse positioning regi
ons, since the reference input is large, the controller gain should be smal
l in order to avoid the controller saturation. The simple continuous functi
on of gain versus displacement error is derived based on the robust control
ler. From the simulation and experimental results, continuous gain scheduli
ng control provides a better response than fixed gain control in disturbanc
e rejection and settling time. It also brings robustness to system uncertai
nty and prevents overshoot responses. (C) 2000 Elsevier Science Ltd. All ri
ghts reserved.