Title :
Robustness study of repetitive control systems: application to a flexible joint robot
Author :
Saari, H. ; Tadjine, M. ; Caron, B. ; Mouille, P.
Author_Institution :
LAMII-CESALP, Univ. de Savoie, France
Abstract :
This paper deals with discrete time robust repetitive control systems. The paper is divided in two parts. The first part is devoted to the repetitive control design. In the second part, a robustness analysis of repetitive control in presence of plant mismatch is introduced. Sufficient conditions to ensure repetitive control convergence are derived.
Keywords :
discrete time systems; robots; robust control; discrete time; flexible joint robot; repetitive control convergence; repetitive control systems; robust repetitive control; robustness analysis;
Conference_Titel :
Control '96, UKACC International Conference on (Conf. Publ. No. 427)
Print_ISBN :
0-85296-668-7
DOI :
10.1049/cp:19960672
