Repetitive control schemes for asymptotic tracking and disturbance rejection of periodic signals with an unknown period are presented. A sampled data recursive scheme for identifying the period of a periodic signal with a resolution finer than the sampling interval is presented. Discrete-time self-tuning repetitive controllers, which adapt both the periodic signal period and sampling interval, are proposed based on the period identification scheme. The fine adaptation of the controller sampling interval makes the identified signal period an exact integer multiples of the controller sampling interval and renders a superior tracking performance than that of the conventional fixed sampling interval repetitive controllers. Experimental results on a linear motion system are presented to demonstrate the effectiveness of the proposed control schemes. [S0022-0434(00)01402-7]
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June 2000
Technical Briefs
Repetitive Control for Asymptotic Tracking of Periodic Signals With an Unknown Period
Tsu-Chin Tsao,
Tsu-Chin Tsao
Mechanical and Aerospace Engineering Department, University of California-Los Angeles, Los Angeles, CA 90095-1597
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Yao-Xin Qian and,
Yao-Xin Qian and
Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
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Mahadevamurty Nemani
Mahadevamurty Nemani
Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
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Tsu-Chin Tsao
Mechanical and Aerospace Engineering Department, University of California-Los Angeles, Los Angeles, CA 90095-1597
Yao-Xin Qian and
Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
Mahadevamurty Nemani
Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic systems and Control Division February 3, 1998. Associate Technical Editor: A. Sinha.
J. Dyn. Sys., Meas., Control. Jun 2000, 122(2): 364-369 (6 pages)
Published Online: February 3, 1998
Article history
Received:
February 3, 1998
Citation
Tsao, T., Qian and , Y., and Nemani, M. (February 3, 1998). "Repetitive Control for Asymptotic Tracking of Periodic Signals With an Unknown Period." ASME. J. Dyn. Sys., Meas., Control. June 2000; 122(2): 364–369. https://doi.org/10.1115/1.482474
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