Journal ArticleDOI
Adaptive suppression of vibrations - a repetitive control approach
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TLDR
The aim of this paper is to present an adaptive solution to suppression of vibrations that has its roots in repetitive control based on models of isolated frequencies rather than the commonly used delay model.Abstract:
The aim of this paper is to present an adaptive solution to suppression of vibrations. Adaptation is appropriate whenever the fundamental frequency is unknown or drifting, e.g., when the vibration is caused by a rotational machine with unknown rotational speed. The approach presented here has its roots in repetitive control based on models of isolated frequencies rather than the commonly used delay model. The relationship between different modeled frequencies is fixed by the model structure, and the fundamental frequency is obtained by gradient descent or Newton's method. To show the feasibility of this approach, it was used to reduce the vibrations on a lever that were caused by a motor with imbalance in its rotation. As an actuator, a standard loudspeaker was used, and the vibration was sensed by an accelerometer.read more
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Book ChapterDOI
Iterative Learning Control: An Expository Overview
TL;DR: This chapter gives an overview of the field of iterative learning control (ILC), followed by a detailed description of the ILC technique, followed by two illustrative examples that give a flavor of the nature of ILC algorithms and their performance.
Journal ArticleDOI
Brief Repetitive control for systems with uncertain period-time
TL;DR: A robust repetitive controller structure is proposed that uses multiple memory-loops in a certain feedback configuration, such that small changes in period-time do not diminish the disturbance rejection properties.
Journal ArticleDOI
Torque-ripple reduction in PM synchronous motor drives using repetitive current control
TL;DR: In this article, the q-axis current reference has been modified to achieve constant torque in order to improve current tracking in the presence of periodic reference signals and disturbances, where the application of repetitive techniques to the current control in a field-oriented PMSM drive is proposed.
Journal ArticleDOI
Brief paper: Design of noise and period-time robust high-order repetitive control, with application to optical storage
TL;DR: A convex optimization problem is defined for the design of high-order repetitive controllers, where a trade-off can be made between robustness for changes in the period time and for reduction of the error spectrum in-between the harmonic frequencies.
Journal ArticleDOI
Repetitive control of MIMO systems using H ∞ design
George Weiss,Martin Häfele +1 more
TL;DR: This work extends repetitive control theory to plants with several outputs, of which only some have to track reference signals, and introduces a correction to the amount of delay used in the internal model to lead to improvement in performance.
References
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Journal ArticleDOI
Analysis and Synthesis of Discrete-Time Repetitive Controllers
Journal ArticleDOI
Digital control of repetitive errors in disk drive systems
Kok Kia Chew,Masayoshi Tomizuka +1 more
TL;DR: A modified prototype repetitive controller is applied as a plug-in module to a Winchester disk drive with a preexisting analog feedback controller to demonstrate its efficacy in the reduction of this periodic component.
Journal ArticleDOI
Six degree-of-freedom active vibration control using the Stewart platforms
Z.J. Geng,L.S. Haynes +1 more
TL;DR: The design and control problems of a class of multiple DOF vibration isolation systems using the concept of a Stewart truss and Stewart platform mechanism are studied and a novel geometric arrangement of aStewart platform, called the "cubic configuration" is developed and used.
Journal ArticleDOI
Disturbance Rejection Through an External Model
On repetitive control
TL;DR: This thesis will concern control systems ability to enhance performance by repeating, while maintaining a stable and sufficiently fast closed loop performance.