Adaptive Rejection of Periodic Disturbances With Unknown Period

[+] Author and Article Information
G. Hillerström, J. Sternby

Control Engineering Group, Luleå University of Technology, S-971 87 Luleå, Sweden

J. Dyn. Sys., Meas., Control 118(3), 606-610 (Sep 01, 1996) (5 pages) doi:10.1115/1.2801187 History: Received September 15, 1993; Online December 03, 2007


A disturbance cancellation extension by means of Youla parametrization to a stabilizing nominal controller is investigated. In the case of a known disturbance model, disturbance frequencies or period time, it may be implemented directly as an add-on device to the existing control system. The nominal control system may be designed without consideration of the deterministic disturbances. This way it may suffice with a PID controller. It may also be a more complex one e.g., designed to obtain certain robustness properties. For known relation between the disturbance frequencies (one or more periodic signals) but unknown fundamental frequency, a frequency shaped disturbance model estimation scheme is utilized. This makes it possible to e.g., adapt the disturbance model to minimize the error directly with respect to the output. For periodic disturbances the scheme implements a self-tuning discrete time repetitive controller. To illustrate the feasibility of the approach taken it is used for rejecting a periodic disturbance acting on a nonminimum-phase plant.

Copyright © 1996 by The American Society of Mechanical Engineers
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