Structured μ-Synthesis for Nanopositioners under Payload-Induced Uncertainties: Minimising Conservatism for Robust Performance
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866911382513909760 |
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| author | Araga, Manavi Natu, Aditya HosseinNia, Hassan |
| author_facet | Araga, Manavi Natu, Aditya HosseinNia, Hassan |
| contents | Most systems exhibit significant variability in their dynamics, including variations in system parameters and large high-frequency dynamic uncertainties. Traditional uncertainty modelling techniques consolidate all such variations into a single uncertainty block, often yielding overly conservative representations of the true plant behaviour. This paper introduces an uncertainty modelling framework that employs multiple structured and unstructured uncertainty blocks to reduce this conservatism. The methodology is evaluated for an industrial piezoelectric nanopositioner subject to payload-induced variations, using uncertainty models of differing complexity. A bandpass controller is synthesised via structured mixed-μ synthesis, and the resulting designs are compared in terms of conservatism of the uncertainty model, robust performance, and computational effort. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_11962 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Structured μ-Synthesis for Nanopositioners under Payload-Induced Uncertainties: Minimising Conservatism for Robust Performance Araga, Manavi Natu, Aditya HosseinNia, Hassan Systems and Control Most systems exhibit significant variability in their dynamics, including variations in system parameters and large high-frequency dynamic uncertainties. Traditional uncertainty modelling techniques consolidate all such variations into a single uncertainty block, often yielding overly conservative representations of the true plant behaviour. This paper introduces an uncertainty modelling framework that employs multiple structured and unstructured uncertainty blocks to reduce this conservatism. The methodology is evaluated for an industrial piezoelectric nanopositioner subject to payload-induced variations, using uncertainty models of differing complexity. A bandpass controller is synthesised via structured mixed-μ synthesis, and the resulting designs are compared in terms of conservatism of the uncertainty model, robust performance, and computational effort. |
| title | Structured μ-Synthesis for Nanopositioners under Payload-Induced Uncertainties: Minimising Conservatism for Robust Performance |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2601.11962 |