Robust Repetitive Controller Design in Parameter Space

A new and simple robust repetitive controller design procedure in controller parameter space is presented here. The structure of the repetitive controller filters are fixed, thus, simplifying the design procedure to tuning of the fixed structure filters' parameters. This approach results in simple and physically meaningful robust controllers that are easily implementable. The design method is based on mapping frequency domain performance specifications into a chosen controller parameter plane. Weighted sensitivity (nominal performance) and weighted complementary sensitivity (robust stability) function magnitude bounds are chosen as the frequency domain specifications to be mapped into controller parameter space here. The design method is illustrated numerically in the context of a servohydraulic material testing machine application available in the literature.

[1]  Masayoshi Tomizuka,et al.  A unified approach to the design of adaptive and repetitive controllers for robotic manipulators , 1990 .

[2]  Masayoshi Tomizuka,et al.  Analysis and Synthesis of Discrete-Time Repetitive Controllers , 1989 .

[3]  Toru Omata,et al.  Nonlinear repetitive control with application to trajectory control of manipulators , 1987, J. Field Robotics.

[4]  Myung Jin Chung,et al.  Design of repetitive control system for an uncertain plant , 1995 .

[5]  Levent Guvenc.  Repetitive controller design in parameter space , 2003 .

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

[7]  Hitay Özbay,et al.  Tutorial review H∞ optimal controller design for a class of distributed parameter systems , 1993 .

[8]  Masami Saeki,et al.  Parameter Space Design Method of PID Controller for Robust Sensitivity Minimization Problem , 1996 .

[9]  Lawrence A. Bergman,et al.  Application of Repetitive Control to Vibration Attenuation in Certain Engineering Structures , 1999 .

[10]  Myung Jin Chung,et al.  Repetitive control for the track-following servo system of an optical disk drive , 1998, IEEE Trans. Control. Syst. Technol..

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

[12]  Jürgen Ackermann,et al.  Links between the parameter space and frequency domain methods of robust control , 2001 .

[13]  Theodore E. Djaferis,et al.  Representations of controllers that achieve robust performance for systems with real parameter uncertainty , 1991 .

[14]  K. Srinivasan,et al.  Discrete-Time Repetitive Control System Design Using the Regeneration Spectrum , 1993 .

[15]  Michio Nakano,et al.  High Accuracy Control of a Proton Synchrotron Magnet Power Supply , 1981 .

[16]  S. S. Garimella,et al.  Application of Repetitive Control to Eccentricity Compensation in Rolling , 1996 .

[17]  T. E. Peery,et al.  H∞ Optimal Repetitive Controller Design for Stable Plants , 1997 .

[18]  Martin Häfele,et al.  Repetitive control of MIMO systems using Hinfinity design , 1999, Autom..

[19]  A. T. Shenton,et al.  Interactive control system design by a mixed H/sup /spl infin//-parameter space method , 1997 .

[20]  Levent Guvenc,et al.  Stability and Performance Robustness Analysis of Repetitive Control Systems Using Structured Singular Values , 1996 .

[21]  Masayoshi Tomizuka,et al.  Robust adaptive and repetitive digital tracking control and application to a hydraulic servo for noncircular machining , 1994 .

[22]  Bruce A. Francis,et al.  Feedback Control Theory , 1992 .