Controller design for dual-stage actuator of load devices considering of resonant vibration suppression due to input saturation

Yusaku Shinohara, Kenta Seki, Makoto Iwasaki, Hiroshi Chinda, Masaki Takahashi

Research output: Contribution to journalArticle


This paper presents a controller design approach considering vibration suppression due to input saturation for load devices. In the target load device, a pneumatic actuator and a voice coil motor are combined as a dual-stage actuator to expand the servo bandwidth. However, since vibrations are excited by the input saturation in the voice coil motor, the vibrations deteriorate the force tracking performance for the desired load reference. In this research, therefore, a loop-shaping approach is adopted to suppress the vibrations, where a compensator is designed to improve the disturbance suppression performance at the resonant frequency of plant. The proposed approach has been verified by experiments using a prototype of load device.

Original languageEnglish
Pages (from-to)1883-1892
Number of pages10
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number802
Publication statusPublished - 2013 Jul 15



  • Controller design
  • Disturbance suppression
  • Dual-stage actuator
  • Input saturation
  • Pneumatic actuator
  • Servo mechanism
  • Voice coil motor

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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