Digital Control of Negative Imaginary Systems Using Discrete-Time Multi-HIGS: Application to a Dual-Stage MEMS Force Sensor
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866917400463540224 |
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| author | Shi, Kanghong Dadkhah, Diyako Petersen, Ian R. Moheimani, S. O. Reza |
| author_facet | Shi, Kanghong Dadkhah, Diyako Petersen, Ian R. Moheimani, S. O. Reza |
| contents | In this paper, we propose a digital control approach for multi-input multi-output negative imaginary (NI) systems using discrete-time hybrid integrator-gain systems (HIGS) controllers. We show the NI property of the bimodal and trimodal discrete-time HIGS, as well as the parallel combinations of them, which are referred to as the multi-HIGS. Also, we demonstrate that linear NI systems can be asymptotically stabilized using discrete-time HIGS in digital control. We apply discrete-time bimodal and trimodal multi-HIGS controllers to a two-input two-output dual-stage force sensor with lightly damped resonant modes. To validate the theoretical findings, the closed-loop performance is evaluated in both time and frequency domains. Experimental results show that the discrete-time multi-HIGS effectively suppresses resonances while preserving favorable phase characteristics, which highlights its potential as a robust nonlinear NI controller for the digital control of NI systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_10176 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Digital Control of Negative Imaginary Systems Using Discrete-Time Multi-HIGS: Application to a Dual-Stage MEMS Force Sensor Shi, Kanghong Dadkhah, Diyako Petersen, Ian R. Moheimani, S. O. Reza Systems and Control Optimization and Control In this paper, we propose a digital control approach for multi-input multi-output negative imaginary (NI) systems using discrete-time hybrid integrator-gain systems (HIGS) controllers. We show the NI property of the bimodal and trimodal discrete-time HIGS, as well as the parallel combinations of them, which are referred to as the multi-HIGS. Also, we demonstrate that linear NI systems can be asymptotically stabilized using discrete-time HIGS in digital control. We apply discrete-time bimodal and trimodal multi-HIGS controllers to a two-input two-output dual-stage force sensor with lightly damped resonant modes. To validate the theoretical findings, the closed-loop performance is evaluated in both time and frequency domains. Experimental results show that the discrete-time multi-HIGS effectively suppresses resonances while preserving favorable phase characteristics, which highlights its potential as a robust nonlinear NI controller for the digital control of NI systems. |
| title | Digital Control of Negative Imaginary Systems Using Discrete-Time Multi-HIGS: Application to a Dual-Stage MEMS Force Sensor |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2604.10176 |