B. G. B. Hunnekens

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In this paper, we introduce variable gain controllers for linear motion systems designed to improve transient performance. In particular, we focus on the well-known tradeoff induced by integral action, which removes steady-state errors due to constant external disturbances, but deteriorates transient performance in terms of increased overshoot. We propose a(More)
In this paper, we employ an extremum-seeking control strategy for steady-state performance optimization of variable-gain controllers for linear motion systems. Variablegain control can balance the tradeoff between low-frequency disturbance suppression and sensitivity to high-frequency noise in a more desirable manner than linear controllers can. However,(More)
In this paper, we introduce a design framework for variable gain integral controllers with the aim to improve transient performance of linear motion systems. In particular, we focus on the well-known tradeoff introduced by integral action, which removes steady-state errors caused by constant external disturbances, but may deteriorate transient performance(More)
In this paper, we introduce piecewise affine variable-gain controllers as a means to improve performance compared to linear controllers. Variable-gain controllers can improve upon the tradeoff between low-frequency tracking and sensitivity to high-frequency disturbances. However, performance-based tuning of the variable-gain controllers, is far from(More)
In this paper, we experimentally demonstrate an extremum-seeking control strategy for nonlinear systems with periodic steady-state outputs, for the adaptive design of variablegain controllers. Variable-gain control can balance the tradeoff between low-frequency disturbance suppression and sensitivity to high-frequency noise in a more desirable manner than(More)
In this paper, we introduce the split-path nonlinear integrator (SPANI) as a novel nonlinear filter designed to improve the transient performance of linear systems in terms of overshoot. In particular, this nonlinear controller targets the well-known trade-off induced by integral action, which removes steady-state errors due to constant external(More)
In this paper, we present a novel type of extremumseeking controller, which continuously uses past data of the performance map to estimate the gradient of this performance map by means of a 1st-order least squares fit. The approach is intuitive by nature and avoids the need of dither in the extremum-seeking loop. The avoidance of dither allows for an(More)