Nonlinear repetitive control

Author

Ghosh, Jayati ; Paden, Brad

Author_Institution

Dept. of Mech. & Environ. Eng., California Univ., Santa Barbara, CA, USA

Volume

45

Issue

5

fYear

2000

fDate

5/1/2000 12:00:00 AM

Firstpage

949

Lastpage

954

Abstract

Repetitive controllers are generally applied to reject periodic disturbances and to track periodic reference signals with a known period. Their design is based on the internal model principle, proposed by Francis and Wonham (1975). This paper describes a new finite-dimensional SISO repetitive controller for two different classes of nonlinear plants. Simulation results show asymptotic tracking of the periodic reference signal by the proposed repetitive controller in closed loop up to the Nth harmonic frequency. A proof of robustness of the repetitive control system to small nonlinearities, like actuator nonlinearities, is provided

Keywords

closed loop systems; model reference adaptive control systems; multidimensional systems; nonlinear control systems; periodic control; robust control; actuator nonlinearities; asymptotic tracking; closed loop; finite-dimensional SISO repetitive controller; internal model principle; nonlinear repetitive control; periodic disturbance rejection; periodic reference signal; periodic reference signal tracking; Automatic control; Control nonlinearities; Control systems; Control theory; Fourier series; Frequency; Nonlinear control systems; Optical control; Robust control; Tracking loops;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.855558

Filename

855558