A repetitive control system of a model following type

Author

Hikita, Hiromitsu ; Kyotoku, Satoshi

Author_Institution

Muroran Inst. of Technol., Hokkaido, Japan

fYear

1989

fDate

13-15 Dec 1989

Firstpage

757

Abstract

A repetitive control system of the model-following type is proposed. The model that the system output should track is introduced. The dynamic system that represents the tracking error behavior can be considered to be driven by periodic disturbances, and the repetitive control can be applied to this dynamic system. Highly accurate tracking is attained, since the dynamic behavior can be adjusted and the disturbance signals driving the error dynamics can be extremely small. It is shown that a state observer is effective in the case in which there are inaccessible state variables, although the observer can not estimate the exact states of a system as t approaches ∞. The results are applied to repetitive motion control by a DC servomotor

Keywords

control system analysis; dynamics; servomotors; state estimation; dynamic system; model following; periodic disturbances; repetitive control system; servomotor; state estimation; state observer; tracking error; Control system synthesis; Control systems; DC motors; Error correction; Filters; Frequency; Motion control; Observers; Servomechanisms; State estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1989., Proceedings of the 28th IEEE Conference on

Conference_Location

Tampa, FL

Type

conf

DOI

10.1109/CDC.1989.70219

Filename

70219