Title :
Comparison of four discrete-time repetitive control algorithms
Author :
Kempf, Carl ; Messner, William ; Tomizuka, Masayoshi ; Horowitz, Roberto
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
Four different algorithms used for cancellation of periodic disturbances are presented and compared. For each method, the theoretical advantages and disadvantages, computational complexity, execution time, and method of implementation are discussed. Experimental data from the use of these algorithms in compensating for repetitive disturbances present in the tracking servo of a computer disk drive are presented.<>
Keywords :
compensation; control system analysis; discrete time systems; position control; servomechanisms; compensation; computational complexity; computer disk drive; discrete-time repetitive control; execution time; periodic disturbances cancellation; tracking servo; Algorithm design and analysis; Computational complexity; Computer errors; Disk drives; Error correction; Frequency; Mechanical engineering; Power harmonic filters; Sampling methods; Servomechanisms;
Journal_Title :
Control Systems, IEEE
