Stable Switching PD Control Using Hunt-Crossley Model for a Press Platform

Jeong Un Nam, Yun Jae Yang, Tae Woong Yoon

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This study proposes a switching proportional-derivative (PD) controller for a press platform for inspecting the surfaces of a wind turbine blade. We use the Hunt-Crossley model to represent the probe shape or the nonlinearity of the inspection platform. This model consists of a nonlinear spring and a damper; therefore, it is more accurate than linear spring-damper models. We prove the global asymptotic stability of a PD force feedback controller and a PD position feedback (force) controller. However, both the controllers suffer from implementation-related problems. Specifically, the PD force feedback controller makes the impact force large, and the PD position feedback controller cannot easily measure small position changes when the platform contacts the surface. These problems of each controller are solved by switching the two controllers. The PD force feedback control and PD position feedback control are used when the platform is in the contact and noncontact states, respectively. We prove that the proposed switching PD force/position feedback controller is globally asymptotically stable. Further, simulations show satisfactory performance resulting from stable switching between the two control schemes.

Original languageEnglish
Pages (from-to)2821-2829
Number of pages9
JournalInternational Journal of Control, Automation and Systems
Issue number8
Publication statusPublished - 2021 Aug

Bibliographical note

Funding Information:
This work is supported by the Korea Energy Technology Evaluation and Planning (No. 20173010024950).

Publisher Copyright:
© 2021, ICROS, KIEE and Springer.


  • Hunt-Crossley model
  • PD force feedback control
  • PD position feedback force control
  • switching system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications


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