This paper presents a method for enhancing the performance of a digital repetitive control system. The performance at the fundamental frequency and its harmonics of repetitive exogenous signals is improved by applying a modified low-pass filter structure in the repetitive signal generator of the internal model. Stability and robust performance is achieved through μ-synthesis. The modified low-pass filter is motivated by the attempt to reduce the sensitivity function by squaring it. The magnitude of the sensitivity function is substantially reduced at the periodic reference frequencies since the value is already much less than unity. The proposed approach is demonstrated by its implementation on an electrohydraulic actuator for tracking periodic cam-like profiles.
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e-mail: bkim@kimm.re.kr
e-mail: ttsao@seas.ucla.edu
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March 2004
Technical Briefs
A Performance Enhancement Scheme for Robust Repetitive Control System
Byung-Sub Kim,
e-mail: bkim@kimm.re.kr
Byung-Sub Kim
Intelligence and Precision Machine Department, Korea Institute of Machinery and Materials
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Tsu-Chin Tsao
e-mail: ttsao@seas.ucla.edu
Tsu-Chin Tsao
Mechanical and Aerospace Engineering Department, University of California, Los Angeles, CA 90095
Search for other works by this author on:
Byung-Sub Kim
Intelligence and Precision Machine Department, Korea Institute of Machinery and Materials
e-mail: bkim@kimm.re.kr
Tsu-Chin Tsao
Mechanical and Aerospace Engineering Department, University of California, Los Angeles, CA 90095
e-mail: ttsao@seas.ucla.edu
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division November 19, 2001; final revision, July 25, 2003. Associate Editor: Y. Chait.
J. Dyn. Sys., Meas., Control. Mar 2004, 126(1): 224-229 (6 pages)
Published Online: April 12, 2004
Article history
Received:
November 19, 2001
Revised:
July 25, 2003
Online:
April 12, 2004
Citation
Kim , B., and Tsao , T. (April 12, 2004). "A Performance Enhancement Scheme for Robust Repetitive Control System ." ASME. J. Dyn. Sys., Meas., Control. March 2004; 126(1): 224–229. https://doi.org/10.1115/1.1650386
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