Flexible Sampling in Motion Control

Motion systems are controlled under flexible sampling to enhance the performance/cost trade-off of systems under fixed sampling. The main focus is on controller design for these flexible sampled systems.

PhD Candidate: ir. Jurgen van Zundert
Supervisor: dr.ir. Tom Oomen
Promotor: prof.dr.ir. Maurice Heemels
Project Financing: STW
Project Period: November 2014 - November 2018

In high tech motion systems there is an ever increasing demand for speed and accuracy. Motion systems are typically controlled digitally with a single, equidistant sampling rate, i.e., the sampling is the same for each subsystem and the sampling interval is constant. High performance can be achieved by increasing the sampling frequency, but this is generally costly in terms of hardware such as processors, sensors, actuators, AD/DA converters, etc. As a result, the classical single, equidistant sampling convention is limited by a performance/cost trade-off. 

In this research flexibility in sampling is introduced to break this trade-off. For example, each subsystem can be executed on its own optimal sampling frequency or the sampling intervals can vary over time. This research focuses on (feedforward) motion control for such flexibly sampled systems.

The research is part of the project "High-performance control for nano-precision systems" (no. 12694) in the STW program "Robust design of cyber-physical systems".