Contraction Based Nonlinear Controller for a Laser Beam Stabilization System using a Variable Gain

Lorenzo L González-Romeo, Rodolfo Reyes Báez, J. Fermi Guerrero-Castellanos, Bayu Jayawardhana, Jaime J. Cid-Monjaraz, Olga G. Félix-Beltrán

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In this letter, we propose a contraction-based variable gain nonlinear control scheme for the laser-beam stabilizing (LBS) servo-system, which guarantees that the closed-loop system is convergent. With the variable gain acting on the velocity error, the well known waterbed effect of the low-frequency/bandwidth trade-off can be overcome. Moreover, the contraction-based framework allows us to extend the linear control performance metrics for analyzing the closed-loop nonlinear system behavior. The closed-loop system’s performance is evaluated in numerical simulations under input disturbances and/or white noise measurements and its efficacy is compared to that using PID and LQG controllers.
Original languageEnglish
Article number9127509
Pages (from-to)761-766
Number of pages6
JournalIEEE Control Systems Letters
Issue number3
Early online dateJun-2020
Publication statusPublished - Jul-2021
Event59th IEEE Conference on Decision and Control - Jeju Island, Jeju Island, Korea, Republic of
Duration: 14-Dec-202018-Dec-2020

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