Noise attenuation motivated controller design. Part II: Position control

This paper treats a noise attenuation motivated position controller design outlined in [1]. This modular approach to a filtered PD and a disturbance observer based filtered PID (FPD and DO-FPID) control design, including an experimental evaluation of an optimal filter degree choice, is extended to a constrained control grounded in the invariant set approach [2]-[4]. Loop performance is evaluated by recently introduced measures for deviations from monotonic and two-pulse shapes of transients typical for control of plants with dominant 2nd order dynamics. The analysis shows that a simplified disturbance observer (DO) based constrained filtered PID controller (DO-CFPID) derived for a double integrator plant model gives an interesting performance also for constrained integral systems with a stable mode. It remains simple and it offers an excellent performance also from the point of view of the noise attenuation versus speed of transients.