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Ultra-Precise Position Control
Published in Takashi Yamaguchi, Mitsuo Hirata, Chee Khiang Pang, High-Speed Precision Motion Control, 2017
Takenori Atsumi, Mituso Hirata, Hiroshi Fujimoto, Nobutaka Bando
Repetitive control is a widely used technique for rejecting periodic disturbances or tracking of periodic reference signals [18][19]. Although this control scheme has excellent performance for low order disturbance modes, it cannot reject relatively higher frequency modes. The reasons are: the delay caused by the ZOH at the plant input is significant when the higher frequency modes to be rejected are close to the Nyquist frequency;a Low Pass Filter (LPF) is required to maintain the stability robustness; andan approximation of the inverse transfer function is required to deal with the unstable zero of the discrete-time plant in the conventional discrete-time repetitive controller [18].
Adaptive Repetitive Control of Peristaltic Pump Flow Rate with an Optical Flow Sensing System
Published in Arpan Deyasi, Pampa Debnath, Asit K. Datta, Siddhartha Bhattacharyya, Photonics, Plasmonics and Information Optics, 2021
Naiwrita Dey, Ujjwal Mondal, Anindita Sengupta
Repetitive control is a special class of learning control which is based on internal model principle. This learning control methodology is designed to obtain a desired tracking performance when reference signal is periodic in nature. This controller also aims to enhance the control performance by reducing the effect of periodic disturbance signal on the closed-loop system[1,22]. Inclusion of the low pass filter Q(s) modifies the conventional RC loop into a stable finite dimensional RC loop (FDRC) [23].
Optimisation of control and learning actions for a repetitive-control system based on Takagi–Sugeno fuzzy model
Published in International Journal of Systems Science, 2020
Manli Zhang, Min Wu, Luefeng Chen, Shengnan Tian, Jinhua She
Many control tasks are periodic in control engineering practice, for example, stator-current control in a permanent-magnet-synchronous-motor drive system (Y. Liu et al., 2019), sinusoidal-voltage supply in a power system (Ma & Ouyang, 2019), and a tremor-suppression control system (Copur et al., 2019). Repetitive control is an effective method of tracking a periodic reference input and rejecting a periodic disturbance (Inoue et al., 1981). It is based on the internal model principle (Francis & Wonham, 1975). The periodic signal generator of a repetitive-control system (RCS) is constructed by a pure-delay positive-feedback loop. It has a simple control structure and enhances steady-state tracking and/or rejection performance for periodic signals.
An infinite-order integral disturbance observer for improved estimation of periodic disturbances in motion control systems
Published in Journal of the Chinese Institute of Engineers, 2023
By taking advantage of the IDOB’s error-feedback form, this paper aims at applying the repetitive control theory to disturbance estimation. Specifically, this paper proposes an infinite-order IDOB (IF-IDOB) for improved estimation of periodic disturbances. A comparative study is conducted with practical experiments, and experimental results are reported in this paper. The main contributions of this paper are summarized as follows. The study bridges the gap between the DOB approach and the repetitive control method, which enables great advances in the repetitive control theory to benefit a disturbance estimation. As an example, this study applies an ingredient in the repetitive control scheme (Tsai and Yao 2002) to enhancing a disturbance estimation.The repetitive learning structure is embedded into the proposed IF-IDOB, and there is no need to design and implement both a repetitive controller and a DOB at the same time. The proposed scheme is more convenient than the existing DOB-based repetitive control schemes.In addition to the periodicity of a disturbance, the reference also has to be periodic in the conventional repetitive control method, which limits its potential applications. Using the proposed scheme, the periodicity of the reference is not required.A digital signal processor-based implementation of the proposed scheme is confirmed in a four-bar linkage system. The experimental results demonstrate its effectiveness compared with the IDOB and the IFDOB.