Design of hybrid resetting pid and lag controllers with application to motion control

In this paper, new designs for hybrid PID and lag controllers with state resetting are presented. Lyapunov stable designs are shown for first and second order plants, which in case of integral reset for first order plants reduces to that of a Clegg integrator but differs from the First Order Reset Elements (FORE)'s commonly used in the literature for nonintegral lag controllers. Furthermore, the proposed PID and lag designs utilize different resetting conditions especially for second order plants, which is an important class of systems for motion control. Different solutions to retain a linear integrator's steady-state disturbance rejection capability are presented. Simulations and experiments for motion control of a typical servo motor driven positioning stage show the performance benefits of these hybrid controllers and verify the analysis.