Robust Adaptive and Repetitive Digital Tracking Control and Application to a Hydraulic Servo for Noncircular Machining

[+] Author and Article Information
Tsu-Chin Tsao

Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801

Masayoshi Tomizuka

Department of Mechanical Engineering, University of California, Berkeley, CA

J. Dyn. Sys., Meas., Control 116(1), 24-32 (Mar 01, 1994) (9 pages) doi:10.1115/1.2900676 History: Received January 18, 1989; Revised April 26, 1993; Online March 17, 2008


This paper presents the development of robust digital tracking control algorithms and their real-time implementation on an electrohydraulic servo-actuator for tool positioning in noncircular machining. Robust adaptive feedforward controller for tracking arbitrary signals and robust repetitive controller for tracking periodic signals against disturbances and unmodeled dynamics have been developed. Experimental results are presented to illustrate the control system synthesis procedures and tracking performance.

Copyright © 1994 by The American Society of Mechanical Engineers
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