Hardware Reference
In-Depth Information
when the proposed nonlinear controller is used, the dual-stage loop remains
stable even with a step input of 35 µin (Figure 3.101) or higher at the reference
command.
Figure 3.99: Response to 4 µin step input. Upper curve: combined output y
p
,
lower curve: microactuator control voltage u
M
.
Figure 3.100: Response to 10 µin step input with linear control scheme. Upper
curve: combined output y
p
, lower curve: microactuator control voltage u
M
.
Effect of Saturation Level
In the studies of microactuator performance presented above, only the mi-
croactuator saturation caused by changes in external reference is considered.
