DocumentCode
2664186
Title
Robustness study of repetitive control systems: application to a flexible joint robot
Author
Saari, H. ; Tadjine, M. ; Caron, B. ; Mouille, P.
Author_Institution
LAMII-CESALP, Univ. de Savoie, France
Volume
2
fYear
1996
fDate
2-5 Sept. 1996
Firstpage
899
Abstract
This paper deals with discrete time robust repetitive control systems. The paper is divided in two parts. The first part is devoted to the repetitive control design. In the second part, a robustness analysis of repetitive control in presence of plant mismatch is introduced. Sufficient conditions to ensure repetitive control convergence are derived.
Keywords
discrete time systems; robots; robust control; discrete time; flexible joint robot; repetitive control convergence; repetitive control systems; robust repetitive control; robustness analysis;
fLanguage
English
Publisher
iet
Conference_Titel
Control '96, UKACC International Conference on (Conf. Publ. No. 427)
ISSN
0537-9989
Print_ISBN
0-85296-668-7
Type
conf
DOI
10.1049/cp:19960672
Filename
656065
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