Journal
AUTOMATICA
Volume 47, Issue 1, Pages 227-234Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2010.10.048
Keywords
Learning control; Global robust control; Step motor; Output tracking
Funding
- Italian Ministry of Education, University and Research
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The tracking control problem via state feedback for uncertain current-fed permanent magnet step motors with non-sinusoidal flux distribution and uncertain position-dependent load torque is addressed: a periodic reference signal (of known period) for the rotor position is required to be tracked. A robust iterative learning control algorithm is designed which, for any motor initial condition and without requiring any resetting procedure, guarantees, despite system uncertainties: exponential convergence of the rotor position tracking error to a residual ball (centered at the origin) whose radius can be made arbitrarily small by properly setting the learning gain; asymptotic convergence of the rotor position tracking error to zero. A sufficient condition for the asymptotic estimation of the uncertain reference input achieving, for compatible initial conditions, perfect tracking is derived. Robustness with respect to a finite memory implementation of the control algorithm based on the piecewise linear approximation theory is shown to be guaranteed; satisfactory performances of a discrete-time implementation of the control algorithm are obtained in realistic simulations for the full-order voltage-fed motor. (C) 2010 Elsevier Ltd. All rights reserved.
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