Title :
Repetitive control system: a new type servo system for periodic exogenous signals
Author :
Hara, Shinji ; Yamamoto, Yutaka ; Omata, Tohru ; Nakano, Michio
Author_Institution :
Dept. of Control Eng., Tokyo Inst. of Technol., Japan
fDate :
7/1/1988 12:00:00 AM
Abstract :
A control scheme called repetitive control is proposed, in which the controlled variables follow periodic reference commands. A high-accuracy asymptotic tracking property is achieved by implementing a model that generates the periodic signals of period L into the closed-loop system. Sufficient conditions for the stability of repetitive control systems and modified repetitive control systems are derived by applying the small-gain theorem and the stability theorem for time-lag systems. Synthesis algorithms are presented by both the state-space approach and the factorization approach. In the former approach, the technique of the Kalman filter and perfect regulation is utilized, while coprime factorization over the matrix ring of proper stable rational functions and the solution of the Hankel norm approximation are used in the latter one
Keywords :
Kalman filters; closed loop systems; control system synthesis; discrete time systems; servomechanisms; state-space methods; Hankel norm approximation; Kalman filter; asymptotic tracking; closed-loop system; factorization; periodic exogenous signals; periodic reference commands; repetitive control; servo system; stability; state-space; time-lag systems; Control system synthesis; Control systems; Error correction; Mechanical systems; Servomechanisms; Signal generators; Signal synthesis; Stability; Steady-state; Sufficient conditions;
Journal_Title :
Automatic Control, IEEE Transactions on