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<p><i>Introduction xi</i></p> <p><b>PART I. MINI AND MICROSYSTEMS 1</b></p> <p><b>Chapter 1. Modeling and Control of Stick-slip Micropositioning Devices 3</b><br /> Micky RAKOTONDRABE, Yassine HADDAB, Philippe LUTZ</p> <p>1.1. Introduction 3</p> <p>1.2. General description of stick-slip micropositioning devices 4</p> <p>1.3. Model of the sub-step mode 6</p> <p>1.4. PI control of the sub-step mode 13</p> <p>1.5. Modeling the coarsemode 15</p> <p>1.6. Voltage/frequency (U/f) proportional control of the coarse mode 18</p> <p>1.7. Conclusion 26</p> <p>1.8. Bibliography 28</p> <p><b>Chapter 2. Microbeam Dynamic Shaping by Closed-loop Electrostatic Actuation using Modal Control 31</b><br /> Chady KHARRAT, Eric COLINET, Alina VODA</p> <p>2.1. Introduction 31</p> <p>2.2. System description 34</p> <p>2.3. Modal analysis 36</p> <p>2.4. Mode-based control 40</p> <p>2.5. Conclusion 50</p> <p>2.6. Bibliography 53</p> <p><b>PART II. NANOSYSTEMS AND NANOWORLD 57</b></p> <p><b>Chapter 3. Observer-based Estimation of Weak Forces in a Nanosystem Measurement Device 59</b><br /> Gildas BESANÇON, Alina VODA, Guillaume JOURDAN</p> <p>3.1. Introduction 59</p> <p>3.2. Observer approach in an AFM measurement set-up 61</p> <p>3.3. Extension to back action evasion 71</p> <p>3.4. Conclusion 79</p> <p>3.5. Acknowledgements 81</p> <p>3.6. Bibliography 81</p> <p><b>Chapter 4. Tunnel Current for a Robust, High-bandwidth and Ultraprecise Nanopositioning 85</b><br /> Sylvain BLANVILLAIN, Alina VODA, Gildas BESANÇON</p> <p>4.1. Introduction 85</p> <p>4.2. System description 87</p> <p>4.3. System modeling 89</p> <p>4.4. Problem statement 97</p> <p>4.5. Tools to deal with noise 100</p> <p>4.6. Closed-loop requirements 102</p> <p>4.7. Control strategy 105</p> <p>4.8. Results 111</p> <p>4.9. Conclusion 115</p> <p>4.10. Bibliography 116</p> <p><b>Chapter 5. Controller Design and Analysis for High-performance STM 121</b><br /> Irfan AHMAD, Alina VODA, Gildas BESANÇON</p> <p>5.1. Introduction 121</p> <p>5.2. General description of STM 123</p> <p>5.3. Control design model 127</p> <p>5.4. H∞ controller design 131</p> <p>5.5. Analysis with system parametric uncertainties 139</p> <p>5.6. Simulation results 142</p> <p>5.7. Conclusions 143</p> <p>5.8. Bibliography 146</p> <p><b>Chapter 6. Modeling, Identification and Control of a Micro-cantilever Array 149</b><br /> Scott COGAN, Hui HUI, Michel LENCZNER, Emmanuel PILLET, Nicolas RATTIER, Youssef YAKOUBI</p> <p>6.1. Introduction 150</p> <p>6.2. Modeling and identification of a cantilever array 151</p> <p>6.3. Semi-decentralized approximation of optimal control applied to a cantilever array 164</p> <p>6.4. Simulation of large-scale periodic circuits by a homogenization method 175</p> <p>6.5. Bibliography 191</p> <p>6.6. Appendix 193</p> <p><b>Chapter 7. Fractional Order Modeling and Identification for Electrochemical Nano-biochip 197</b><br /> Abdelbaki DJOUAMBI, Alina VODA, Pierre GRANGEAT, Pascal MAILLEY</p> <p>7.1. Introduction 197</p> <p>7.2. Mathematical background 199</p> <p>7.3. Prediction error algorithm for fractional order system identification 202</p> <p>7.4. Fractional order modeling of electrochemical processes 206</p> <p>7.5. Identification of a real electrochemical biochip 209</p> <p>7.6. Conclusion 215</p> <p>7.7. Bibliography 217</p> <p><b>PART III. FROM NANOWORLD TO MACRO AND HUMAN INTERFACES 221</b></p> <p><b>Chapter 8. Human-in-the-loop Telemicromanipulation System Assisted by Multisensory Feedback 223</b><br /> Mehdi AMMI, Antoine FERREIRA</p> <p>8.1. Introduction 224</p> <p>8.2. Haptic-based multimodal telemicromanipulation system    225</p> <p>8.3. 3D visual perception using virtual reality 228</p> <p>8.4. Haptic rendering for intuitive and efficient interaction with the microenvironment 237</p> <p>8.5. Evaluating manipulation tasks through multimodal feedback and assistance metaphors 246</p> <p>8.6. Conclusion 253</p> <p>8.7.Bibliography 254</p> <p><b>Chapter 9. Six-dof Teleoperation Platform: Application to Flexible Molecular Docking 257</b><br /> Bruno DAUNAY, Stéphane RÉGNIER</p> <p>9.1. Introduction 258</p> <p>9.2. Proposed approach 261</p> <p>9.3. Force-position control scheme 266</p> <p>9.4. Control scheme for high dynamical and delayed systems 277</p> <p>9.5. From energy description of a force field to force feeling 287</p> <p>9.6. Conclusion 295</p> <p>9.7. Bibliography 297</p> <p><b>List of Authors 301</b></p> <p><i>Index 305</i></p>

<p><strong>Alina Voda</strong> is Associate Professor of Control Systems at Grenoble University in France. She is a well known expert in control applications of different dynamical systems and their application in industry.

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