High bandwidth control of precision motion instrumentation

Douglas A. Bristow, Jingyan Dong, Andrew G. Alleyne, Placid Ferreira, Srinivas Salapaka

Research output: Contribution to journalArticlepeer-review


This article presents a high-bandwidth control design suitable for precision motion instrumentation. Iterative learning control (ILC), a feedforward technique that uses previous iterations of the desired trajectory, is used to leverage the repetition that occurs in many tasks, such as raster scanning in microscopy. Two ILC designs are presented. The first design uses the motion system dynamic model to maximize bandwidth. The second design uses a time-varying bandwidth that is particularly useful for nonsmooth trajectories such as raster scanning. Both designs are applied to a multiaxis piezoelectric-actuated flexure system and evaluated on a nonsmooth trajectory. The ILC designs demonstrate significant bandwidth and precision improvements over the feedback controller, and the ability to achieve precision motion control at frequencies higher than multiple system resonances.

Original languageEnglish (US)
Article number103704
JournalReview of Scientific Instruments
Issue number10
StatePublished - 2008

ASJC Scopus subject areas

  • Instrumentation


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