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Bandwidth-optimal integral resonant control: A stability-budget perspective via negative imaginary systems
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DOI：10.1016/j.conengprac.2026.107094.png)
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Abstract
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• Recasts IRC tuning as explicit stability-budget allocation. • Derives tight gain-product law linking damping and tracking. • Provides NI-consistent leaky-integrator stability interpretation. • Introduces convex LMI-equivalent feasibility for IRC synthesis. • Experimental results validate bandwidth-oriented IRC design.
Keywords:
Integral resonant control
Negative imaginary systems
Feed-through-induced zeros
Damping–tracking trade-off
Stability budget allocation
Tracking bandwidth optimization
Nanopositioning
Robust margins
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