Design of a plug-in type repetitive controller for periodic inputs

This paper presents some practical design criteria for a plug-in type repetitive controller to achieve good tracking performance within a specified frequency range. Upper and lower bounds of the repetitive controller parameters that ensure the stability and the desired performance are derived. It has been found that the decay rate of the tracking error due to periodic inputs is related to the peak value of a defined regeneration spectrum function. The control performance of the present method is evaluated in an experimental software cam system, which needs periodic linear motions, where the real-time control algorithms are implemented using a floating-point digital signal processor (DSP). Both computer simulation and experimental results are presented to illustrate the effectiveness of the proposed repetitive controller design.

[1]  S. Hara,et al.  Repetitive control system: a new type servo system for periodic exogenous signals , 1988 .

[2]  B. Francis,et al.  A Course in H Control Theory , 1987 .

[3]  K. Srinivasan,et al.  Analysis and Design of Repetitive Control Systems using the Regeneration Spectrum , 1990, 1990 American Control Conference.

[4]  W. Wonham,et al.  The internal model principle for linear multivariable regulators , 1975 .

[5]  F. Kobayashi,et al.  Reduction of motor speed fluctuation using repetitive control , 1990, 29th IEEE Conference on Decision and Control.

[6]  R. G. Molyet,et al.  A new approach to phase cancellation in repetitive control , 1994, Proceedings of 1994 IEEE Industry Applications Society Annual Meeting.

[7]  Jan Sternby,et al.  Application of Repetitive Control to a Peristaltic Pump , 1993, 1993 American Control Conference.

[8]  Harold Arthur Rothbart,et al.  Cams : design, dynamics, and accuracy , 1956 .

[9]  Tsu-Chin Tsao,et al.  Rejection of unknown periodic load disturbances in continuous steel casting process using learning repetitive control approach , 1993, Proceedings of 8th IEEE International Symposium on Intelligent Control.

[10]  Masayoshi Tomizuka,et al.  Discrete-Time Domain Analysis and Synthesis of Repetitive Controllers , 1988, 1988 American Control Conference.

[11]  Muneaki Ishida,et al.  Reduction control of mechanical vibration of an induction motor with fluctuated torque load using repetitive controller , 1994, Proceedings of 1994 IEEE International Conference on Industrial Technology - ICIT '94.

[12]  Mi-Ching Tsai,et al.  Tracking Control of a Software Cam Machining System , 1999 .