Journal
INTERNATIONAL JOURNAL OF AUTOMATION AND COMPUTING
Volume 12, Issue 3, Pages 289-296Publisher
SPRINGER HEIDELBERG
DOI: 10.1007/s11633-015-0885-y
Keywords
Additive state decomposition; repetitive control; translational oscillator with a rotational actuator (TORA); rotational-translational actuator (RTAC); nonminimum phase systems
Funding
- National Natural Science Foundation of China [61473012]
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The repetitive control (RC) or repetitive controller problem for nonminimum phase nonlinear systems is both challenging and practical. In this paper, we consider an RC problem for the translational oscillator with a rotational actuator (TORA), which is a nonminimum phase nonlinear system. The major difficulty is to handle both a nonminimum phase RC problem and a nonlinear problem simultaneously. For such purpose, a new RC design, namely the additive-state-decomposition-based approach, is proposed, by which the nonminimum phase RC problem and the nonlinear problem are separated. This makes RC for the TORA benchmark tractable. To demonstrate the effectiveness of the proposed approach, a numerical simulation is given.
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