Repetitive control system: a new type servo system for periodic exogenous signals
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In this article, a control scheme called repetitive control is proposed, in which the controlled variables follow periodic reference commands, and a high-accuracy asymptotic tracking property is achieved by implementing a model that generates the periodic signals of period L into the closed-loop system.Abstract:
A control scheme called repetitive control is proposed, in which the controlled variables follow periodic reference commands. A high-accuracy asymptotic tracking property is achieved by implementing a model that generates the periodic signals of period L into the closed-loop system. Sufficient conditions for the stability of repetitive control systems and modified repetitive control systems are derived by applying the small-gain theorem and the stability theorem for time-lag systems. Synthesis algorithms are presented by both the state-space approach and the factorization approach. In the former approach, the technique of the Kalman filter and perfect regulation is utilized, while coprime factorization over the matrix ring of proper stable rational functions and the solution of the Hankel norm approximation are used in the latter one. >read more
Citations
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Proceedings ArticleDOI
Repetitive Control of a Two Degree of Freedom SCARA Manipulator
TL;DR: The repetitive control input can be adjusted periodically, with comparatively simple algorithms, using the tracking error signal from current and previous trials, without requiring explicit knowledge of the manipulator dynamic model.
Journal ArticleDOI
Analysis and Suppression of Alias in Digitally Controlled Inverters
TL;DR: A quantitative analysis is presented to reveal the characteristic of the aliasing phenomenon in digitally controlled inverters and two alias suppression methods are proposed by controlling the sampling delay so that the system has a better dynamic performance.
Dissertation
Topics in State and Parameter Estimation for Nonlinear and Uncertain Systems
TL;DR: This thesis is submitted in partial fulfillment of the requirements for the degree of Philosphiae Doctor (PhD) at the Norwegian University of Science and Technology (NTNU).
Journal ArticleDOI
Repetitive control approach towards automatic tuning of Smith predictor controllers.
TL;DR: This paper proposes a new method for automatic tuning of the Smith predictor controller based on a Repetitive Control (RC) approach which requires the input of a periodic reference signal which can be derived from a relay feedback experiment.
Journal ArticleDOI
Robust Regulation Theory for Transfer Functions With a Coprime Factorization
TL;DR: The famous internal model principle is generalized first, which leads to a necessary and sufficient solvability condition of the robust regulation problem and to a parametrization of all robustly regulating controllers.
References
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Bettering Operation of Robots by Learning
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All optimal Hankel-norm approximations of linear multivariable systems and their L, ∞ -error bounds†
TL;DR: In this paper, a complete characterization of all rational functions that minimize the Hankel-norm is derived, and the solution to the latter problem is via results on balanced realizations, all-pass functions and the inertia of matrices, all in terms of the solutions to Lyapunov equations.
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The internal model principle for linear multivariable regulators
Bruce A. Francis,W. M. Wonham +1 more
TL;DR: In this paper, structural stability of linear multivariable regulators is defined and necessary and sufficient structural criteria are obtained for linear multi-variable regulators which retain loop stability and output regulation in the presence of small perturbations, of specified types, in system parameters.
Journal ArticleDOI
High Accuracy Control of a Proton Synchrotron Magnet Power Supply
TL;DR: In this article, a linear feedback control is applied in high accuracy tracking of a periodic reference input by locating the imaginary poles of the controller's transfer function to suit the period of the input.
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