A composite pulsating controller for achieving high-performance positioning

A non-linear robust control algorithm called a composite pulsating controller (CPC), which attains high-performance positioning specifications, is presented. The CPC is designed specifically for real product applications that have certain limitations such as friction, motor sizing, amplifier saturation, computational power and like. The CPC is composed of a bang-bang controller, a nominal proportional-integral-derivative (PID) controller, a high-gain PID controller and a pulsating controller in accomplishing the high-performance requirements. The mathematical structure of each component of the CPC is conceptualized, modelled and analysed in order to achieve superior positioning requirements for high performance. A bounded stability of the CPC is achieved and computer simulations are performed to demonstrate its practical applicability. Experimental digital implementation of the CPC with promising results is realized in the laboratory on a test bed equipped with a friction application apparatus.