Robust H-Infinity Control of a Scanning Tunneling Microscope under Parametric Uncertainties

Irfan Ahmad (1) , Alina Voda (1) , Gildas Besancon (2)

1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse
2 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

This paper is devoted to the control system design for high performance scanning tunneling microscope (STM). A common approach by scanning probe community is to use conventional proportional integral (PI) control design to control the vertical movement of STM tip (z-direction). In this article, a modern Hinf control design is analyzed in order to obtain the dual purpose of ultrahigh positioning accuracy with high bandwidth. Uncertainty model, based on experimental analysis of tunneling characteristics and parametric description of the STM, and norm-bounded real perturbations are considered, and an Hinf controller is designed by following the desired control objectives. A performance and robustness analysis is finally performed to test robust stability and performance of STM.

Domaines: Automatique / Robotique

Irfan Ahmad, Alina Voda, Gildas Besancon. Robust H-Infinity Control of a Scanning Tunneling Microscope under Parametric Uncertainties. ACC 2010 - American Control Conference, Jun 2010, Baltimore, Maryland, United States. pp.n.c. ⟨hal-00560939⟩