A three-step design method for performance improvement of robust repetitive control

Author

Wang, Yigang ; Wang, Danwei ; Wang, Xingcheng

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore

fYear

2005

fDate

8-10 June 2005

Firstpage

1220

Abstract

This paper presents a three-step design method to improve performance of repetitive control systems. The performance is enhanced for rejection of high frequency harmonic disturbances by extending the bandwidth of low-pass filter Q in repetitive module. In this method, an interim feedback controller K\´ is designed firstly to ensure the realizability of the Q design in repetitive module. Then Q filter is designed to satisfy robustness stability of system. Finally the feedback controller K\´ is redesigned as K to guarantee overall system robustness performance. This method is referred as "K\´-Q-K" procedure and is applied to active vibration control of Hexapod. Simulation results demonstrate the improved performance by using the proposed approach.

Keywords

control system synthesis; feedback; low-pass filters; robust control; vibration control; Hexapod; active vibration control; high frequency harmonic disturbances; interim feedback control; low-pass filter; performance improvement; robust repetitive control; robust stability; three-step design method; Adaptive control; Bandwidth; Control systems; Design methodology; Frequency; Low pass filters; Power harmonic filters; Robust control; Robust stability; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2005. Proceedings of the 2005

ISSN

0743-1619

Print_ISBN

0-7803-9098-9

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2005.1470130

Filename

1470130