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.
|Number of pages||6|
|Journal||IEEE Control Systems Letters|
|Early online date||Jun-2020|
|Publication status||E-pub ahead of print - Jun-2020|
|Event||59th IEEE Conference on Decision and Control - Jeju Island, Jeju Island, Korea, Republic of|
Duration: 14-Dec-2020 → 18-Dec-2020