Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 61, Issue 6, Pages 2834-2841Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2013.2276033
Keywords
IIR filter; repetitive control (RC); robust compensator
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This paper proposes the design of robust repetitive control with time-varying sampling periods. First, it develops a new frequency domain method to design a low-order, stable, robust, and causal IIR repetitive compensator using an optimization method to achieve fast convergence and high tracking accuracy. As such, a new stable and causal repetitive controller can be implemented independently to reduce the design complexity. The comprehensive analysis and comparison study are presented. Then, this paper extends the method to design a robust repetitive controller, which compensates time-varying periodic signals in a known range. A complete series of experiments is successfully carried out to demonstrate the effectiveness of the proposed algorithms.
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