Reset and switching control

Overcoming performance limitations of linear control!

It is well known that linear time-invariant (LTI) control system for LTI plants suffer from certain fundamental performance limitations imposed by Bode's gain-phase relationship, sometimes known as the "waterbed-effect."

To meet the ever increasing performance demands on throughput and accuracy, these limitations have to be overcome. Therefore, we propose a paradigm shift to hybrid feedback controllers with the aim to remove these limitations. To enable this paradigm shift, we are developing performance analysis and synthesis techniques for hybrid controllers for linear motion systems. Examples of hybrid controllers include reset and switching controllers.

A reset controller is a linear time-invariant (LTI) control system whose states, or subset of states, are reset to zero whenever certain conditions on its input and output are satis ed. These controllers were initially proposed to overcome the inherent performance limitations of linear feedback controllers imposed by Bode's gain-phase relationship. Indeed, due to the hybrid nature of reset control systems (RCSs) they can realize combinations of settling times, overshoot and asymptotic (steady-state) behavior that are unachievable by LTI controllers.

A switching controller is based on switching in a well-crafted manner between various LTI controllers (possibly based on disturbance information) to obtain a better overall closed-loop behavior compared to the case where single LTI control is used.

Many design questions are still open for reset and switching controllers. Through the HYPERMOTION project we are aiming to establish a systematic analysis and design framework for these types of hybrid controllers.

Related Publications

2017

  • Scheduled controller design for systems with varying sensor configurations: A frequency-domain approach

    2017
    R. van der Weijst, S.J.L.M. van Loon, M.F. Heertjes, W.P.M.H. Heemels
    IEEE Transactions on Control Systems Technology

  • Frequency-domain tools for stability analysis of reset control systems

    2017
    S.J.L.M. van Loon, K. Gruntjens, M.F. Heertjes, N. van de Wouw, W.P.M.H. Heemels
    Automatica

  • Linear Quadratic Regulation of Switched Systems Using Informed Policies

    2017
    D. Antunes, W.P.M.H. Heemels
    IEEE Transactions on Automatic Control

  • Bandwidth-on-demand motion control

    2017
    S.J.L.M. van Loon, B.G.B. Hunnekens, A.S. Simon, N. van de Wouw, W.P.M.H. Heemels
    IEEE Transactions on Control Systems Technology

  • Filtered Split-Path Nonlinear Integrator (F-SPANI) for Improved Transient Performance (Invited Paper)

    2017
    A. van der Maas, N. Van De Wouw, W.P.M.H. Heemels
    American Control Conference 2017, Seattle (WA), USA.

  • Hybrid Integrator Design for Enhanced Tracking in Motion Control (Invited Paper)

    2017
    D.A. Deenen, M. Heertjes, W.P.M.H. Heemels, H. Nijmeijer
    American Control Conference 2017, Seattle (WA), USA.

  • Set-point Control of Motion Systems with Uncertain Set-valued Stribeck Friction

    2017
    R. Beerens, H. Nijmeijer, W.P.M.H. Heemels, N. van de Wouw
    IFAC World Congress 2017, Toulouse, France

2016

  • Split-Path Nonlinear Integral Control for Transient Performance Improvement

    April, 2016
    S.J.L.M. van Loon, B. Hunnekens, W.P.M.H. Heemels, N. van de Wouw, H. Nijmeijer
    Automatica 66, p. 262-270

  • L2-gain Analysis for a Class of Hybrid Systems with Applications to Reset and Event-triggered Control: A Lifting Approach

    October, 2016
    W.P.M.H. Heemels, G.E. Dullerud, A.R. Teel
    IEEE Transactions on Automatic Control 61(10), p. 2766-2781

  • Reference-dependent variable-gain control for a nano-positioning motion system

    2016
    S.J.L.M. van Loon, B.G.B. Hunnekens, A.S. Simon, N. van de Wouw, W.P.M.H. Heemels
    12th IFAC International Workshop on Adaptation and Learning in Control and Signal Processing 2016, Eindhoven, Netherlands "(IFAC-PapersOnLine, Volume 49, Issue 13, 2016, Pages 70-75)", p. 70-75

  • Experimental Evaluation of Reset Control for Improved Stage Performance

    2016
    M.F. Heertjes, K.G.J. Gruntjens, S.J.L.M. van Loon, N. van de Wouw, W.P.M.H. Heemels
    12th IFAC International Workshop on Adaptation and Learning in Control and Signal Processing 2016, Eindhoven, Netherlands "(IFAC-PapersOnLine, Volume 49, Issue 13, 2016, Pages 93-98)", p. 93-98

2015

  • DESIGN OF A VARIABLE GAIN INTEGRATOR WITH RESET

    2015
    M.F. Heertjes, K.G.J. Gruntjens, S.J.L.M. van Loon, N. Kontaras, W.P.M.H. Heemels
    American Control Conference (ACC) 2015, Chicago, USA, p. 2155-2160

  • Scheduled Controller Design for Systems with Two Switching Sensor Configurations: A Frequency-Domain Approach

    2015
    S.J.L.M. van Loon, R. van der Weijst, M. Heertjes, W.P.M.H. Heemels
    IFAC Conference on Analysis and Design of Hybrid Systems (ADHS) 2015, Atlanta, USA. "(IFAC-PapersOnLine, Volume 48, Issue 27, 2015, Pages 99-104)", p. 99-104

  • A lifting approach to L2-gain analysis of periodic event-triggered and switching sampled-data control systems (invited paper)

    2015
    W.P.M.H. Heemels, G.E. Dullerud, A.R. Teel
    IEEE Conference on Decision and Control (CDC) 2015, Osaka, Japan, p. 4176 - 4182

  • Switching data-processing methods for feedback control: Breaking the speed versus accuracy trade-off

    2015
    E.P. van Horssen, D. Antunes, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2015, Osaka, Japan, p. 2313 - 2318

2014

  • Improved L2-gain analysis for a class of hybrid systems with applications to reset and event-triggered control

    December, 2014
    S.J.L.M. van Loon, W.P.M.H. Heemels and A.R. Teel
    IEEE Conference on Decision and Control (CDC) 2014, Los Angeles, USA, p. 1221-1226

  • Performance Analysis of a Class of Linear Quadratic Regulators for Switched Linear Systems

    December, 2014
    D. Antunes, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2014, Los Angeles, USA, p. 5475-5480

  • Analyzing the non-smooth dynamics induced by a split-path nonlinear integral controller

    July, 2014
    S.J.L.M. van Loon, B. Hunnekens, W.P.M.H. Heemels, N. Van De Wouw and H. Nijmeijer
    ENOC 2014, Vienna

  • Transient Performance Improvement of Linear Systems Using a Split-Path Nonlinear Integrator

    June, 2014
    S.J.L.M. van Loon, B. Hunnekens, W.P.M.H. Heemels, N. Van De Wouw and H. Nijmeijer
    American Control Conference (ACC) 2014, Portland, Oregon, p. 341-346

  • Control of Mixing and Oscillations in Plasmas and Fluids

    September, 2014
    M. Lauret
    Eindhoven University of Technology

2013

  • Switching Control in Vibration Isolation Systems

    March, 2013
    M.F. Heertjes, I.H. Sahin, N. van de Wouw and W.P.M.H. Heemels
    IEEE Transactions on Control Systems Technology 21(3), p. 626-635

  • Hybrid Control of the Boost Converter: Robust Global Stabilization

    December, 2013
    T.A.F. Theunisse, R.G. Sanfelice, J. Chai and W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2013, Florence, Italy, p. 3635-3640

2012

  • Disturbance Decoupling of Switched Linear Systems

    January, 2012
    E. Yurtseven, W.P.M.H. Heemels and M.K. Camlibel
    Systems and Control Letters 61(1), p. 69-78

2010

  • Performance analysis of reset control systems

    June, 2010
    W. Aangenent, G. Witvoet, W.P.M.H. Heemels. M.J.G. van de Molengraft, M. Steinbuch
    International Journal of Robust and Nonlinear Control 20(11), p. 1213-1233

  • Observer-Based Control of Discrete-Time LPV Systems with Uncertain Parameters

    May, 2010
    W.P.M.H. Heemels, J. Daafouz and G. Millerioux
    IEEE Transactions on Automatic Control 55(9), p. 2130-2135

2009

  • Control of mechanical motion systems with non-collocation of actuation and friction: a Popov criterion approach for input-to-state stability and set-valued nonlinearities

    February, 2009
    J.C.A. de Bruin, A. Doris, N. van de Wouw, W.P.M.H. Heemels and H. Nijmeijer
    Automatica 45(2), p. 405-415

  • Design of observer-based controllers for LPV systems with unknown parameters

    December, 2009
    W.P.M.H. Heemels, J. Daafouz and G. Millerioux
    IEEE Conference on Decision and Control (CDC) 2009, Shanghi, China, p. 1836-1841

2008

  • Robust control of piecewise linear systems: a case study in sheet flow control

    August, 2008
    J.J.T.H. de Best, B.H.M. Bukkems, M.J.G. van de Molengraft, W.P.M.H. Heemels and M. Steinbuch
    Control Engineering Practice 16(8), p. 991-1003

  • Input-to-state stability and interconnections of discontinuous dynamical systems

    December, 2008
    W.P.M.H. Heemels and S. Weiland
    Automatica 44(12), p. 3079-3086

  • An LMI-based L2 gain performance analysis for reset control systems

    June, 2008
    W.H.T.M. Aangenent, G. Witvoet, W.P.M.H. Heemels, M.J.G. van de Molengraft and M. Steinbuch
    American Control Conference (ACC) 2008, Seattle, USA, p. 2310-2315

  • Switching control in active vibration isolation

    July, 2008
    M.F. Heertjes, N. van de Wouw and W.P.M.H. Heemels
    ENOC 2008, Saint-Petersburg, Russia, p. 1-6

  • Nonlinear Control of Linear Motion Systems: An Exploratory Study

    2008
    W.H.T.M. Aangenent
    Eindhoven University of Technology "PhD Thesis"

2007

  • Observer design for a class of piecewise linear systems

    August, 2007
    A.Lj. Juloski, W.P.M.H. Heemels and S. Weiland
    International Journal of Robust and Nonlinear Control 17(15), p. 1387-1404

  • H2 performance analysis of reset control systems

    December, 2007
    G. Witvoet, W.H.T.M. Aangenent, W.P.M.H. Heemels, M.J.G. van de Molengraft and M. Steinbuch
    IEEE Conference on Decision and Control (CDC) 2007, New Orleans, USA, p. 3278-3284

  • Output-feedback Design for Non-Smooth Mechanical Systems: Control Synthesis and Experiments

    2007
    A. Doris
    Eindhoven University of Technology "PhD Thesis"

2006

  • Stabilizing Model Predictive Control of Hybrid Systems

    November, 2006
    M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
    IEEE Transactions on Automatic Control 51(11), p. 1813-1818

2003

  • On solution concepts and well-posedness of linear relay systems

    December, 2003
    A.Y. Pogromsky, W.P.M.H. Heemels and H. Nijmeijer
    Automatica 39(12), p. 2139-2147

1999

  • Positive feedback stabilization of surge in a centrifugal compressor

    December, 1999
    F. Willems, W.P.M.H. Heemels, B. de Jager and A.A. Stoorvogel
    IEEE Conference on Decision and Control (CDC) 1999, Phoenix, USA, p. 3295-3300