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Performance enhancement using vertex simplification based on linear parameter varying synthesis in planar stages.

Hojin Lee¹, Gwanyeon Kim¹, Youngwoo Lee²

¹Department of Energy Systems Engineering, Chung-Ang University, 84, Heukseok-ro, Dongjak-gu, 06974, Seoul, Republic of Korea.

ISA Transactions

|March 28, 2026

Summary

This summary is machine-generated.

This study introduces a new nonlinear optimal control method for planar stages, significantly reducing yaw motion and instability. The approach enhances tracking accuracy and transient responses in precise-motion systems.

Keywords:

Linear parameter-varying system Optimal control Planar stage Vertex simplification

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Area of Science:

Engineering
Control Systems
Mechatronics

Background:

Planar stages are critical dual-axis precise-motion systems.
Asymmetries and disturbances cause instability and yaw motion in these systems.

Purpose of the Study:

To propose a novel nonlinear optimal control method for planar stages.
To mitigate undesired yaw motion and improve system stability.

Main Methods:

Utilized linear parameter-varying (LPV) synthesis to model nonlinear dynamics.
Implemented vertex simplification to reduce computational load.
Designed a robust controller based on the LPV model.

Main Results:

Hardware-in-the-loop simulations validated the control method's effectiveness.
Demonstrated superior tracking accuracy compared to existing methods.
Showcased improved transient responses and enhanced system stability.

Conclusions:

The proposed nonlinear optimal control method effectively addresses yaw motion and instability in planar stages.
LPV synthesis offers a robust framework for precise motion control.
The method significantly enhances performance metrics for planar stage applications.