On The Stability of Control Systems Having Clegg Integrators

Abstract

In this paper, we consider control systems utilizing so-called Clegg integrators. A Clegg integrator is a linear integrator with reset mechanism whose describing function $\frac{{1.62}}{\omega }\angle - {{38.1}^{^\circ }}$ has magnitude slope equivalent to that of a linear integrator, but with 52^° less of phase lag. The potential advantages of using Clegg integrators have been demonstrated in the literature via both simulations and experiments. However, except for describing function analysis, stability criteria specifically tailored to these feedback systems is missing. This paper addresses the internal stability of such control systems and provides stability conditions when the plant is second-order and preliminary results for higher-order cases.