Publication

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

González-Romeo, L. L., Reyes Báez, R., Guerrero-Castellanos, J. F., Jayawardhana, B., Cid-Monjaraz, J. J. & Félix-Beltrán, O. G., Jun-2020, In : IEEE Control Systems Letters. 6 p.

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  • Contraction Based Nonlinear Controller for a Laser BeamStabilization System using a Variable Gain

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DOI

  • Lorenzo L González-Romeo
  • Rodolfo Reyes Báez
  • J. Fermi Guerrero-Castellanos
  • Bayu Jayawardhana
  • Jaime J. Cid-Monjaraz
  • Olga G. Félix-Beltrán
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
Number of pages6
JournalIEEE Control Systems Letters
Publication statusE-pub ahead of print - Jun-2020
Event59th IEEE Conference on Decision and Control - Jeju Island, Jeju Island, Korea, Republic of
Duration: 14-Dec-202018-Dec-2020
https://cdc2020.ieeecss.org/

Event

59th IEEE Conference on Decision and Control

14/12/202018/12/2020

Jeju Island, Korea, Republic of

Event: Conference

ID: 128542554