DocumentCode :
487344
Title :
Discrete-Time Domain Analysis and Synthesis of Repetitive Controllers
Author :
Tomizuka, Masayoshi ; Tsao, Tsu-Chin ; Chew, Kok-Kia
Author_Institution :
Professor, Department of Mechanical Engineering, University of California, Berkeley, CA 94720
fYear :
1988
fDate :
15-17 June 1988
Firstpage :
860
Lastpage :
866
Abstract :
Repetitive control is formulated and analyzed in the discrete-time domain. Sufficiency conditions for the asymptotic convergence of a class of repetitive controllers are given. The "plug-in" repetitive controller is introduced and applied to track-following in a disk-file actuator system. Inter-sample ripples in the tracking error were present when the "plug-in" repetitive controller was installed. The performance is enhanced, however, when the zero-holding device is followed by a low-pass filter or replaced by a delayed first-order hold.
Keywords :
Actuators; Control system synthesis; Control systems; Delay effects; Error correction; Frequency; Magnetic heads; Mechanical engineering; Robots; Servomechanisms;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 1988
Conference_Location :
Atlanta, Ga, USA
Type :
conf
Filename :
4789842
Link To Document :
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