Yik R. Teo (Barry)
Yik R. Teo graduated from The University Of Newcastle, Australia (Callaghan campus) with a Bachelors of Electrical Engineering (Honours Class 1) in 2008 and Masters of Philosophy in Mechanical Engineering in 2013. He is presently a Ph.D candidate at the Precision Mechatronics Lab located in the School of Electrical Engineering and Computer Science, The University of Newcastle. His research includes energy-based control, high-precision positioning, scanning probe microscopy, and nanofabrication.
2017 |
| 17. |  | A. A. Eielsen, Y. R. Teo, A. J. Fleming Improving Robustness Filter Bandwidth in Repetitive Control by Considering Model Mismatch (Journal Article) Asian Journal of Control, 19 (4), pp. 1-11, 2017, ISSN: 1934-6093. (Abstract | Links | BibTeX) @article{J17b,
title = {Improving Robustness Filter Bandwidth in Repetitive Control by Considering Model Mismatch},
author = {A. A. Eielsen and Y. R. Teo and A. J. Fleming},
url = {http://www.precisionmechatronicslab.com/wp-content/uploads/2017/01/J17b.pdf},
doi = {10.1002/asjc.1437},
issn = {1934-6093},
year = {2017},
date = {2017-07-01},
journal = {Asian Journal of Control},
volume = {19},
number = {4},
pages = {1-11},
abstract = {Repetitive control (RC) is used to track and reject periodic signals by including a model of a periodic signal in the feedback path. The performance of RC can be improved by including an inverse plant response filter, but due to modeling uncertainty at high frequencies, a low-pass robustness filter is also required to limit the bandwidth of the signal model and ensure stability. The design of robustness filters is presently ad-hoc, which may result in excessively conservative performance. This article proposes a new automatic method for designing the robustness filter based on convex optimization and an uncertainty model. Experimental results on a nanopositioning system demonstrate that the proposed method outperforms the traditional brick-wall filter approach.},
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Repetitive control (RC) is used to track and reject periodic signals by including a model of a periodic signal in the feedback path. The performance of RC can be improved by including an inverse plant response filter, but due to modeling uncertainty at high frequencies, a low-pass robustness filter is also required to limit the bandwidth of the signal model and ensure stability. The design of robustness filters is presently ad-hoc, which may result in excessively conservative performance. This article proposes a new automatic method for designing the robustness filter based on convex optimization and an uncertainty model. Experimental results on a nanopositioning system demonstrate that the proposed method outperforms the traditional brick-wall filter approach. |
| 16. |  | Y. R. Teo, Y. K. Yong, A. J. Fleming A Comparison Of Scanning Methods And The Vertical Control Implications For Scanning Probe Microscopy (Journal Article) Asian Journal of Control, 19 (2), pp. 1-15, 2017. (Abstract | Links | BibTeX) @article{J17d,
title = {A Comparison Of Scanning Methods And The Vertical Control Implications For Scanning Probe Microscopy},
author = {Y. R. Teo and Y. K. Yong and A. J. Fleming},
url = {http://www.precisionmechatronicslab.com/wp-content/uploads/2017/01/J17d.pdf},
doi = {10.1002/asjc.1422},
year = {2017},
date = {2017-03-01},
journal = {Asian Journal of Control},
volume = {19},
number = {2},
pages = {1-15},
abstract = {This article compares the imaging performance of non-traditional scanning patterns for scanning probe microscopy including sinusoidal raster, spiral, and Lissajous patterns. The metrics under consideration include the probe velocity, scanning frequency, and required sampling rate. The probe velocity is investigated in detail as this quantity is proportional to the required bandwidth of the vertical feedback loop and has a major impact on image quality. By considering a sample with an impulsive Fourier transform, the effect of scanning trajectories on imaging quality can be observed and quantified. The non-linear trajectories are found to spread the topography signal bandwidth which has important implications for both low and high-speed imaging. These effects are studied analytically and demonstrated experimentally with a periodic calibration grating. },
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This article compares the imaging performance of non-traditional scanning patterns for scanning probe microscopy including sinusoidal raster, spiral, and Lissajous patterns. The metrics under consideration include the probe velocity, scanning frequency, and required sampling rate. The probe velocity is investigated in detail as this quantity is proportional to the required bandwidth of the vertical feedback loop and has a major impact on image quality. By considering a sample with an impulsive Fourier transform, the effect of scanning trajectories on imaging quality can be observed and quantified. The non-linear trajectories are found to spread the topography signal bandwidth which has important implications for both low and high-speed imaging. These effects are studied analytically and demonstrated experimentally with a periodic calibration grating. |
2016 |
| 15. |  | Y. R. Teo, A. A. Eielsen, J. T. Gravdahl, A. J. Fleming A Simplified Method For Discrete-Time Repetitive Control Using Model-Less FIR Filter Inversion (Journal Article) Journal of Dynamic Systems, Measurement and Control, 138 (8), pp. 081002, 2016. (Abstract | Links | BibTeX) @article{J16c,
title = {A Simplified Method For Discrete-Time Repetitive Control Using Model-Less FIR Filter Inversion},
author = {Y. R. Teo and A. A. Eielsen and J. T. Gravdahl and A. J. Fleming},
url = {http://www.precisionmechatronicslab.com/wp-content/uploads/2016/06/J16c.pdf},
doi = {10.1115/1.4033274},
year = {2016},
date = {2016-08-01},
journal = {Journal of Dynamic Systems, Measurement and Control},
volume = {138},
number = {8},
pages = {081002},
abstract = {Repetitive control (RC) achieves tracking and rejection of periodic exogenous signals by incorporating a model of a periodic signal in the feedback path. To improve the performance, an inverse plant response filter (IPRF) is used. To improve robustness, the periodic signal model is bandwidth-limited. This limitation is largely dependent on the accuracy of the IPRF. A new method is presented for synthesizing the IPRF for discrete-time RC. The method produces filters in a simpler and more consistent manner than existing best-practice methods available in the literature, as the only variable involved is the selection of a windowing function. It is also more efficient in terms of memory and computational complexity than existing methods. Experimental results for a nanopositioning stage show that the proposed method yields the same or better tracking performance compared to existing methods.},
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pubstate = {published},
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Repetitive control (RC) achieves tracking and rejection of periodic exogenous signals by incorporating a model of a periodic signal in the feedback path. To improve the performance, an inverse plant response filter (IPRF) is used. To improve robustness, the periodic signal model is bandwidth-limited. This limitation is largely dependent on the accuracy of the IPRF. A new method is presented for synthesizing the IPRF for discrete-time RC. The method produces filters in a simpler and more consistent manner than existing best-practice methods available in the literature, as the only variable involved is the selection of a windowing function. It is also more efficient in terms of memory and computational complexity than existing methods. Experimental results for a nanopositioning stage show that the proposed method yields the same or better tracking performance compared to existing methods. |
| 14. |  | Y. R. Teo, Y. K. Yong, A. J. Fleming A Review of Scanning Methods and Control Implications for Scanning Probe Microscopy (Invited Paper) (Inproceeding) American Control Conference, Boston, MA, 2016., Boston, MA, 2016. (BibTeX) @inproceedings{C16c,
title = {A Review of Scanning Methods and Control Implications for Scanning Probe Microscopy (Invited Paper)},
author = {Y. R. Teo and Y. K. Yong and A. J. Fleming},
year = {2016},
date = {2016-07-01},
booktitle = {American Control Conference, Boston, MA, 2016.},
address = {Boston, MA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
2015 |
| 13. |  | A. J. Fleming, Y. R. Teo, K. K. Leang
Low-order Damping and Tracking Control for Scanning Probe Systems (Journal Article) Frontiers in Mechanical Engineering, 1 , pp. 1-9, 2015. (Abstract | Links | BibTeX) @article{J15e,
title = {Low-order Damping and Tracking Control for Scanning Probe Systems},
author = {A. J. Fleming and Y. R. Teo and K. K. Leang
},
url = {http://www.precisionmechatronicslab.com/wp-content/uploads/2015/12/J15e.pdf},
doi = {10.3389/fmech.2015.00014},
year = {2015},
date = {2015-12-30},
journal = {Frontiers in Mechanical Engineering},
volume = {1},
pages = {1-9},
abstract = {This article describes an improvement to integral resonance damping control (IRC) for reference tracking applications such as Scanning Probe Microscopy and nanofabrication. It is demonstrated that IRC control introduces a low-frequency pole into the tracking loop which is detrimental for performance. In this work, the location of this pole is found analytically using Cardano’s method then compensated by parameterizing the tracking controller accordingly. This approach maximizes the closed-loop bandwidth whilst being robust to changes in the resonance frequencies. The refined IRC controller is comprehensively compared to other low-order methods in a practical environment.},
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pubstate = {published},
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This article describes an improvement to integral resonance damping control (IRC) for reference tracking applications such as Scanning Probe Microscopy and nanofabrication. It is demonstrated that IRC control introduces a low-frequency pole into the tracking loop which is detrimental for performance. In this work, the location of this pole is found analytically using Cardano’s method then compensated by parameterizing the tracking controller accordingly. This approach maximizes the closed-loop bandwidth whilst being robust to changes in the resonance frequencies. The refined IRC controller is comprehensively compared to other low-order methods in a practical environment. |
| 12. |  | Y. R. Teo, A. A. Eielsen, A. J. Fleming Model-less FIR Repetitive Control with consideration of uncertainty (Inproceeding) IEEE Multiconference on Systems and Control, Sydney, 2015. (BibTeX) @inproceedings{C15c,
title = {Model-less FIR Repetitive Control with consideration of uncertainty},
author = {Y. R. Teo and A. A. Eielsen and A. J. Fleming},
year = {2015},
date = {2015-12-01},
booktitle = {IEEE Multiconference on Systems and Control},
address = {Sydney},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
| 11. |  | Y. R. Teo, A. J. Fleming Optimal integral force feedback for active vibration control (Journal Article) Journal of Sound and Vibration, 356 (11), pp. 20-33, 2015. (Abstract | Links | BibTeX) @article{J15c,
title = {Optimal integral force feedback for active vibration control},
author = {Y. R. Teo and A. J. Fleming},
url = {http://www.precisionmechatronicslab.com/wp-content/uploads/2015/10/J15c.pdf},
year = {2015},
date = {2015-06-27},
journal = {Journal of Sound and Vibration},
volume = {356},
number = {11},
pages = {20-33},
abstract = {This paper proposes an improvement to Integral Force Feedback (IFF), which is a popular method for active vibration control for structures and mechanical systems. Benefits of IFF includes robustness, guaranteed stability and simplicity. However, the maximum damping performance is dependent on the stiffness of the system; hence, some systems cannot be adequately controlled. In this paper, an improvement to the classical force feedback control scheme is proposed. The improved method achieves arbitrary damping for any mechanical system by introducing a feed-through term. The proposed improvement is experimentally demonstrated by actively damping an objective lens assembly for a high-speed confocal microscope.},
keywords = {},
pubstate = {published},
tppubtype = {article}
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This paper proposes an improvement to Integral Force Feedback (IFF), which is a popular method for active vibration control for structures and mechanical systems. Benefits of IFF includes robustness, guaranteed stability and simplicity. However, the maximum damping performance is dependent on the stiffness of the system; hence, some systems cannot be adequately controlled. In this paper, an improvement to the classical force feedback control scheme is proposed. The improved method achieves arbitrary damping for any mechanical system by introducing a feed-through term. The proposed improvement is experimentally demonstrated by actively damping an objective lens assembly for a high-speed confocal microscope. |
2014 |
| 10. |  | Y. R. Teo, D. Russell, S. S. Aphale, A. J. Fleming Optimal Integral Force Feedback and Structured PI Tracking Control: Application for High Speed Confocal Microscopy (Journal Article) Mechatronics, 24 (6), pp. 701-711, 2014. (Abstract | Links | BibTeX) @article{J14d,
title = {Optimal Integral Force Feedback and Structured PI Tracking Control: Application for High Speed Confocal Microscopy},
author = {Y. R. Teo and D. Russell and S. S. Aphale and A. J. Fleming},
url = {http://www.precisionmechatronicslab.com/wp-content/uploads/2014/09/J14d.pdf},
year = {2014},
date = {2014-12-01},
journal = {Mechatronics},
volume = {24},
number = {6},
pages = {701-711},
abstract = {This paper describes a new vibration damping technique based on Integral Force Feedback (IFF). Classical IFF utilizes a force sensor and integral controller to damp the resonance modes of a mechanical system. However, the maximum modal damping depends on the frequency difference between the system’s poles and zeros. If the frequency difference is small, the achievable modal damping may be severely limited. The proposed technique allows an arbitrary damping ratio to be achieved by introducing an additional feed-through term to the control system. This results in an extra degree of freedom that allows the position of the zeros to be modified and the maximum modal damping to be increased. The second contribution of this paper is a structured PI tracking controller that is parameterized to cancel the additional pole introduced by integral force feedback. The parameterized controller has only one tuning parameter and does not suffer from reduced phase margin. The proposed techniques are demonstrated on a piezoelectric objective lens positioner. The results show exceptional tracking and damping performance while maintaining insensitivity to changes in resonance frequency. The maximum bandwidth achievable with a commercial PID controller is 26.1 Hz. In contrast, with the proposed damping and tracking controller, the bandwidth is increased to 255 Hz.},
keywords = {},
pubstate = {published},
tppubtype = {article}
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This paper describes a new vibration damping technique based on Integral Force Feedback (IFF). Classical IFF utilizes a force sensor and integral controller to damp the resonance modes of a mechanical system. However, the maximum modal damping depends on the frequency difference between the system’s poles and zeros. If the frequency difference is small, the achievable modal damping may be severely limited. The proposed technique allows an arbitrary damping ratio to be achieved by introducing an additional feed-through term to the control system. This results in an extra degree of freedom that allows the position of the zeros to be modified and the maximum modal damping to be increased. The second contribution of this paper is a structured PI tracking controller that is parameterized to cancel the additional pole introduced by integral force feedback. The parameterized controller has only one tuning parameter and does not suffer from reduced phase margin. The proposed techniques are demonstrated on a piezoelectric objective lens positioner. The results show exceptional tracking and damping performance while maintaining insensitivity to changes in resonance frequency. The maximum bandwidth achievable with a commercial PID controller is 26.1 Hz. In contrast, with the proposed damping and tracking controller, the bandwidth is increased to 255 Hz. |
| 9. |  | Y. R. Teo, D. Russell, S. S. Aphale, A. J. Fleming Optimal Integral Force Feedback and Structured PI Tracking Control: Application for High Speed Confocal Microscopy (Inproceeding) Proc. IFAC World Congress, Cape Town, South Africa, 2014. (Links | BibTeX) @inproceedings{C14d,
title = {Optimal Integral Force Feedback and Structured PI Tracking Control: Application for High Speed Confocal Microscopy},
author = {Y. R. Teo and D. Russell and S. S. Aphale and A. J. Fleming},
url = {http://www.precisionmechatronicslab.com/wp-content/uploads/2015/05/C14d.pdf},
year = {2014},
date = {2014-09-01},
booktitle = {Proc. IFAC World Congress},
address = {Cape Town, South Africa},
crossref = {(Invited Session)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
| 8. |  | Y. R. Teo, A. A. Eielsen, J. T. Gravdahl, A. J. Fleming Discrete-time repetitive control with model-less FIR filter inversion for high performance nanopositioning (Inproceeding) Proc. IEEE/ASME Advanced Intelligent Mechatronics, Besançon, France, 2014. (Links | BibTeX) @inproceedings{C14f,
title = {Discrete-time repetitive control with model-less FIR filter inversion for high performance nanopositioning},
author = {Y. R. Teo and A. A. Eielsen and J. T. Gravdahl and A. J. Fleming},
url = {http://www.precisionmechatronicslab.com/wp-content/uploads/2015/05/C14f1.pdf},
year = {2014},
date = {2014-06-30},
booktitle = {Proc. IEEE/ASME Advanced Intelligent Mechatronics},
address = {Besançon, France},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
| 7. |  | Y. R. Teo, A. J. Fleming A New Repetitive Control Scheme Based on Non-Causal FIR Filters (Inproceeding) Proc. American Control Conference, Portland, Oregon, 2014. (Links | BibTeX) @inproceedings{C14b,
title = {A New Repetitive Control Scheme Based on Non-Causal FIR Filters},
author = {Y. R. Teo and A. J. Fleming },
url = {http://www.precisionmechatronicslab.com/wp-content/uploads/2015/05/C14b1.pdf},
year = {2014},
date = {2014-06-02},
booktitle = {Proc. American Control Conference},
address = {Portland, Oregon},
crossref = {(Invited Session)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
| 6. |  | Y. R. Teo, A. J. Fleming Active Damping Control Using Optimal Integral Force Feedback (Inproceeding) Proc. American Control Conference, Portland, Oregon, 2014. (Links | BibTeX) @inproceedings{C14c,
title = {Active Damping Control Using Optimal Integral Force Feedback},
author = {Y. R. Teo and A. J. Fleming},
url = {http://www.precisionmechatronicslab.com/wp-content/uploads/2015/05/C14c.pdf},
year = {2014},
date = {2014-06-02},
booktitle = {Proc. American Control Conference},
address = {Portland, Oregon},
crossref = {(Invited Session)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
2013 |
| 5. |  | Y. R. Teo, A. Donaire, T. Perez Regulation and integral control of an underactuated robotic system using IDA-PBC with dynamic extension (Inproceeding) 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2013. (Links | BibTeX) @inproceedings{Teo2013,
title = {Regulation and integral control of an underactuated robotic system using IDA-PBC with dynamic extension},
author = {Y. R. Teo and A. Donaire and T. Perez},
url = {http://www.precisionmechatronicslab.com/wp-content/uploads/2015/08/06584211.pdf},
year = {2013},
date = {2013-07-09},
booktitle = {2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
| 4. |  | Y. R. Teo, A. J. Fleming Resolution of Sensors with Capacitive Source Impedance (Inproceeding) Proc. IEEE Sensors, Baltimore, MA, 2013. (BibTeX) @inproceedings{C13j,
title = {Resolution of Sensors with Capacitive Source Impedance},
author = {Y. R. Teo and A. J. Fleming},
year = {2013},
date = {2013-01-01},
booktitle = {Proc. IEEE Sensors},
address = {Baltimore, MA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
2012 |
| 3. |  | C. Renton, Y. R. Teo, T. Perez Total energy shaping of a class of underactuated Port-Hamiltonian Systems using a new set of closed-loop potential shape variables. (Inproceeding) 2012 IEEE 51st Annual Conference on Decision and Control (CDC), 2012. (Links | BibTeX) @inproceedings{Renton2012,
title = {Total energy shaping of a class of underactuated Port-Hamiltonian Systems using a new set of closed-loop potential shape variables.},
author = {C. Renton and Y. R. Teo and T. Perez},
url = {http://www.precisionmechatronicslab.com/wp-content/uploads/2015/08/06426822.pdf},
year = {2012},
date = {2012-12-12},
booktitle = {2012 IEEE 51st Annual Conference on Decision and Control (CDC)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
| 2. |  | C. Renton, Y. R. Teo, T. Perez Active control of car suspension systems using IDA-PBC (Inproceeding) 2012 2nd Australian Control Conference (AUCC), 2012. (Links | BibTeX) @inproceedings{Renton2012b,
title = {Active control of car suspension systems using IDA-PBC},
author = {C. Renton and Y. R. Teo and T. Perez },
url = {http://www.precisionmechatronicslab.com/wp-content/uploads/2015/08/06613223.pdf},
year = {2012},
date = {2012-11-15},
booktitle = {2012 2nd Australian Control Conference (AUCC)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
| 1. |  | A. Donaire, T. Perez, Y. R. Teo Robust speed tracking control of synchronous motors using immersion and invariance (Inproceeding) 7th IEEE Conference on Industrial Electronics and Applications (ICIEA 2012), 2012. (Links | BibTeX) @inproceedings{Donaire2012,
title = {Robust speed tracking control of synchronous motors using immersion and invariance},
author = {A. Donaire and T. Perez and Y. R. Teo},
url = {http://www.precisionmechatronicslab.com/wp-content/uploads/2015/08/06360958.pdf},
year = {2012},
date = {2012-07-18},
booktitle = {7th IEEE Conference on Industrial Electronics and Applications (ICIEA 2012)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
