Design of Robust Repetitive Control With Time-Varying Sampling Periods

This paper proposes the design of robust repetitive control with time-varying sampling periods. First, it develops a new frequency domain method to design a low-order, stable, robust, and causal IIR repetitive compensator using an optimization method to achieve fast convergence and high tracking acc...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2014-06, Vol.61 (6), p.2834-2841
Main Authors: Kurniawan, Edi, Zhenwei Cao, Zhihong Man
Format: Article
Language:English
Subjects:
Accuracy
Algorithms
Convergence
Design engineering
IIR filter
Mathematical model
Optimization
Repetitive control
repetitive control (RC)
Repetitive controllers
robust compensator
Robustness
Sampling
Tracking
Transfer functions
Uncertainty
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Summary:This paper proposes the design of robust repetitive control with time-varying sampling periods. First, it develops a new frequency domain method to design a low-order, stable, robust, and causal IIR repetitive compensator using an optimization method to achieve fast convergence and high tracking accuracy. As such, a new stable and causal repetitive controller can be implemented independently to reduce the design complexity. The comprehensive analysis and comparison study are presented. Then, this paper extends the method to design a robust repetitive controller, which compensates time-varying periodic signals in a known range. A complete series of experiments is successfully carried out to demonstrate the effectiveness of the proposed algorithms.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2013.2276033