title: Impulsive control for fast nanopositioning.
abstract: In this paper we present a non-linear control scheme for high-speed nanopositioning based on impulsive control. Unlike in the case of a linear feedback controller, the controller states are altered in a discontinuous manner at specific instances in time. Using this technique, it is possible to simultaneously achieve good tracking performance, disturbance rejection and tolerance to measurement noise. Impulsive control is demonstrated experimentally on an atomic force microscope. A significant improvement in tracking performance is demonstrated.
authors.affiliation: IBM Research-Zurich, Säumerstrasse 4, 8803 Rüschlikon, Switzerland. uma@zurich.ibm.com
authors.forename: Tomas
authors.initials: T
authors.lastname: Tuma
authors.forename: Abu
authors.initials: A
authors.lastname: Sebastian
authors.forename: Walter
authors.initials: W
authors.lastname: Häberle
authors.forename: John
authors.initials: J
authors.lastname: Lygeros
authors.forename: Angeliki
authors.initials: A
authors.lastname: Pantazi