Stability Robustness of Repetitive Control Systems With Zero Phase Compensation

[+] Author and Article Information
C. C. H. Ma

Department of Electrical Engineering, The University of British Columbia, Vancouver, British Columbia, Canada V6T-1W5

J. Dyn. Sys., Meas., Control 112(3), 320-324 (Sep 01, 1990) (5 pages) doi:10.1115/1.2896148 History: Received January 18, 1989; Revised June 15, 1989; Online March 17, 2008


It is shown that a special zero phase control (ZPC) system introduced by Tomizuka is L ∞ stable against a large class of common nonlinearities. However, it still suffers from the generic nonrobustness problem associated with a linear repetitive control system when subjected to a saturation nonlinearity. For the special ZPC system, however, three solutions exist for the problem, two of which do not degrade the repetitive tracking performance.

Copyright © 1990 by The American Society of Mechanical Engineers
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