A tutorial on loop-shaping control methodologies for precision positioning systems

Abstract

Many servo systems require micro/nano-level positioning accuracy. This requirement sets a number of challenges from the viewpoint of sensing, actuation, and control algorithms. This article considers control algorithms for precision positioning. We examine how prior knowledge about the parameterization of control structure and the disturbance spectrum should be utilized in the design of control algorithms. An outer-loop inverse-based Youla-Kucera parameterization is built in the article. The presented algorithms are evaluated on a tutorial example of a galvo scanner system.