Repetitive control (RC) achieves tracking and rejection of periodic exogenous signals by incorporating a model of a periodic signal in the feedback path. To improve the performance, an inverse plant response filter (IPRF) is used. To improve robustness, the periodic signal model is bandwidth-limited. This limitation is largely dependent on the accuracy of the IPRF. A new method is presented for synthesizing the IPRF for discrete-time RC. The method produces filters in a simpler and more consistent manner than existing best-practice methods available in the literature, as the only variable involved is the selection of a windowing function. It is also more efficient in terms of memory and computational complexity than existing methods. Experimental results for a nanopositioning stage show that the proposed method yields the same or better tracking performance compared to existing methods.
A Simplified Method for Discrete-Time Repetitive Control Using Model-Less Finite Impulse Response Filter Inversion
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received July 26, 2015; final manuscript received March 23, 2016; published online May 24, 2016. Assoc. Editor: Ming Xin.
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Teo, Y. R., Fleming, A. J., Eielsen, A. A., and Tommy Gravdahl, J. (May 24, 2016). "A Simplified Method for Discrete-Time Repetitive Control Using Model-Less Finite Impulse Response Filter Inversion." ASME. J. Dyn. Sys., Meas., Control. August 2016; 138(8): 081002. https://doi.org/10.1115/1.4033274
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