Analysis of sampled-data hybrid integrator-gain systems: A discrete-time approach

Hybrid integrator-gain systems (HIGS) are hybrid control elements used to overcome fundamental performance limitations of linear time-invariant feedback control, and have enjoyed recent successes in engineering applications such as high-precision motion systems. However, despite the relevance of dig...

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Bibliographic Details
Published in:Automatica (Oxford) 2024-09, Vol.167, p.111765, Article 111765
Main Authors: Sharif, Bardia, Alferink, Dirk, Heertjes, Marcel, Nijmeijer, Hendrik, Heemels, Maurice
Format: Article
Language:English
Subjects:
Hybrid integrator-gain systems
Sampled-data systems
Stability analysis
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Summary:Hybrid integrator-gain systems (HIGS) are hybrid control elements used to overcome fundamental performance limitations of linear time-invariant feedback control, and have enjoyed recent successes in engineering applications such as high-precision motion systems. However, despite the relevance of digital implementations, the creation of sampled-data versions of HIGS and their formal analysis have not been addressed in the literature so far, and will form the topic of the present paper. Thereto, we present discrete-time HIGS elements, which preserve the main philosophy behind the operation of HIGS in continuous time. Moreover, stability criteria are presented that can be used to certify input-to-state stability of discrete-time and sampled-data HIGS-controlled systems based on both (i) (measured) frequency response data, and (ii) linear matrix inequalities (LMIs). A comparison between these stability criteria is presented as well. A numerical case study is provided to illustrate the application of the main results.
ISSN:0005-1098
DOI:10.1016/j.automatica.2024.111765