Impulse-based discrete feedback control of motion with damping uncertainties

Abstract

The paper introduces the novel discrete feedback control called here impulse-based. It is believed that the proposed control scheme can be an adequate alternative to other existent robust control methods, like sliding-mode or bang-bang control, when solving the motion control problem with damping uncertainties. The impulse-based control paradigm is introduced while been close related to the well-known impulsive hybrid systems. The stable control convergence is shown for the bounded but unknown positive damping. Also the design of appropriate control parameters is provided in the closed analytic form. Numerical simulation example demonstrates the main control principles and helps to understand its advantages and drawbacks. An experimental case study of the motion control with nonlinear frictional uncertainties in vicinity to position settling discloses the practical relevance of the proposed method.