Title :
Digital PLL-based adaptive repetitive control
Author :
Cao, Z. ; Narasimhulu, S.S.
Author_Institution :
Fac. of Eng. & Ind. Sci., Swinburne Univ. of Technol., Melbourne, Vic.
Abstract :
The repetitive control achieves zero steady state error by reducing it in iterations based on the error observed in pervious iterations. However, the repetitive control requires that an integer number of samples of the input periodic signal are taken and this could be a problem when the reference period is changing and the sampling rate is fixed. The digital PLL-based adaptive repetitive control is proposed in this paper, where the sampling rate is locked to the reference period so that an integer number of samples per period are maintained at all times
Keywords :
adaptive control; digital phase locked loops; electric control equipment; errors; iterative methods; adaptive repetitive control; digital PLL; digital phase locked loop; input periodic signal; iteration reduction; robotics; zero steady state error; Adaptive control; Control systems; Electrical equipment industry; Phase locked loops; Programmable control; Sampling methods; Service robots; Servomotors; Signal generators; Tracking loops; Adaptive repetitive control; Phase locked loop; Robotics;
Conference_Titel :
Systems and Control in Aerospace and Astronautics, 2006. ISSCAA 2006. 1st International Symposium on
Conference_Location :
Harbin
Print_ISBN :
0-7803-9395-3
DOI :
10.1109/ISSCAA.2006.1627514
