Physical-model-based control of a piezoelectric tube for nano-scale positioning applications

Abstract

Piezoelectric tubes exhibit a highly resonant mode of vibration which, if uncontrolled, limits the maximum scan rate in nano-scale positioning applications. Highly resonant systems with collocated sensor/actuator are often controlled using resonant shunt dampers. Unfortunately, in the configuration used here, this approach is not possible due the non-minimum phase property arising from the presence of a right-half plane zero. This problem is solved by: (i) interpreting the resonant shunt damper in the context of physical-model-based control (PMBC) and (ii) extending the PMBC approach to handle non-minimum phase systems. The resultant controller combines the physical insight of the resonant s..