0
Research Papers

Design of Robust Modified Repetitive-Control System for Linear Periodic Plants

[+] Author and Article Information
Lan Zhou

School of Information Science and Engineering, Central South University, Changsha 410083, China; Department of Mathematics and Applied Mathematics,  Hunan Institute of Humanities, Science and Technology, Loudi 417000,, Chinazlly98@yahoo.cn

Jinhua She

 School of Computer Science, Tokyo University of Technology, Hachioji, Tokyo 192-0982, Japanshe@cs.teu.ac.jp

Min Wu1

 School of Information Science and Engineering, Central South University, Changsha 410083, Chinamin@csu.edu.cn

Jie Zhang

 School of Information Science and Engineering, Central South University, Changsha 410083, Chinazhangjie@toki.waseda.jp

1

Corresponding author.

J. Dyn. Sys., Meas., Control 134(1), 011023 (Dec 06, 2011) (7 pages) doi:10.1115/1.4004770 History: Revised June 08, 2010; Received October 30, 2010; Accepted June 08, 2011; Published December 06, 2011; Online December 06, 2011

This paper concerns a linear-matrix-inequality (LMI)-based method of designing a robust modified repetitive-control system (MRCS) for a class of strictly proper plants with periodic uncertainties. It exploits the nature of control and learning and the periodicity and continuity of repetitive control to convert the design problem into a robust stabilization problem for a continuous-discrete 2D system. The LMI technique and Lyapunov stability theory are used to derive an LMI-based asymptotic stability condition that can be used directly in the design of the gains of the repetitive controller. Two tuning parameters in the condition enable preferential adjustment of control and learning. A numerical example illustrates the tuning procedure and demonstrates the effectiveness of the method.

FIGURES IN THIS ARTICLE
<>
Copyright © 2012 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Configuration of basic repetitive-control system

Grahic Jump Location
Figure 2

Configuration of MRCS

Grahic Jump Location
Figure 4

Chuck-workpiece system: (a) vibration model and (b) stiffness variation [11]

Grahic Jump Location
Figure 5

Relationship among J1 , α, and β

Grahic Jump Location
Figure 6

Relationship among σ, α, and β

Grahic Jump Location
Figure 7

Tracking error for parameter sets (a) and (b) in Eq. 42

Grahic Jump Location
Figure 8

Relationship among J10 , α, and β

Grahic Jump Location
Figure 9

Simulation results for periodically time-varying plant (34) with (48)

Grahic Jump Location
Figure 10

Tracking error for MRCS with white Gaussian noise (SNR: 45 dB) in the output

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In