Abstract
A robust variable structure system (VSS) composed of two-phase control, i.e. proportional-plus-integral (PI) controller after anti-reset windup (ARW) strategy and the other only with a proportional (P) controller, was presented in this study for a tool offset compensating system in dealing with the saturation of the feedback element as well as enhancing the transient-state responses to achieve a high precise positioning control. The output of the integral controller was constrained by the ARW algorithm for elimination of the integral windup which occurs as a result of the saturation of the feedback. The structure of the controller would be switched according to the sliding mode to either one of the robust PI schemes or else to one of the other robust P schemes in order to enhance the transient performance. Also, the maximal robust gain parameters of PI/P control were introduced for tolerating the nonlinear perturbation which arises as a consequence of the linearization of the nonlinear system. Computer simulation and practical experiments verified both a better tolerance towards the feedback saturation and also a tremendous improvement of transient performance concerning the nonlinear high precise positioning control system with a large initial state.
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