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
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References
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Bettering Operation of Robots by Learning
TL;DR: A betterment process for the operation of a mechanical robot in a sense that it betters the nextoperation of a robot by using the previous operation's data is proposed.
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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.
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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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