Extended discrete-time prototype repetitive controllers and its application

Author

Yamada, Manabu ; Funahashi, Yasuyuki ; Ishihara, Shigenori ; Matsushita, Michhiro

Author_Institution

Dept. of Mech. Eng., Nagoya Inst. of Technol., Japan

Volume

4

fYear

1996

fDate

11-13 Dec 1996

Firstpage

3606

Abstract

This paper discusses a discrete-time repetitive control system from the viewpoint of practical use. The proposed controllers can guarantee faster convergence of the controlled error to zero than the previous ones for desired outputs and disturbances with a given period. Moreover the design method is independent of the period and makes it easy to implement in an adaptive control scheme even if the period is large. The proposed scheme is applied to a two-axis positioning table and the effectiveness is confirmed by an online experiment

Keywords

DC motors; adaptive control; asymptotic stability; closed loop systems; control system synthesis; convergence; discrete time systems; position control; servomotors; adaptive control scheme; controlled error; design method; extended discrete-time prototype repetitive controllers; online experiment; two-axis positioning table; Adaptive control; Closed loop systems; Control system synthesis; Control systems; Design methodology; Error correction; Mechanical engineering; Prototypes; Servosystems; Signal generators;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.576956

Filename

576956