Title :
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
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;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.576956
