Implementation of nonlinear control laws for an optical delay line

This paper discusses the implementation of a globally stable nonlinear controller algorithm for the Real-time Interferometer Control System Testbed (RICST) brassboard optical delay line (ODL) developed for the Interferometry Technology Program at the Jet Propulsion Laboratory. The control methodology essentially employs loop shaping to implement linear control laws, while utilizing nonlinear elements as means of ameliorating the effects of actuator saturation in its coarse, main, and vernier stages. The linear controllers were implemented as high-order digital filters and were designed using Bode integral techniques to determine the loop shape. The nonlinear techniques encompass the areas of exact linearization, anti-windup control, nonlinear rate limiting, and modal control. Details of the design procedure are given as well as data from the actual mechanism.