Abstract
We report an Approximate Internal Model Control (AIMC) method for tracking of the reference signals by which a constant-linear-velocity (CLV) spiral scan pattern is generated. In contrast to the constant-angular-velocity (CAV) spiral pattern, the instantaneous frequency of the CLV sinusoidal references considerably varies over the scan period. In addition, the reference amplitude is a nonlinear function of time, making the tracking of a CLV spiral reference a more challenging control objective. Considerable improvement in the tracking performance of the proposed time-varying controller is demonstrated compared to a recently developed LQG method for spiral trajectories. Experimental implementation on a MEMS nanopositioner further illustrates applicability of the proposed control approach.
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