Transient Response of Repetitive Control Systems

[+] Author and Article Information
S. S. Garimella

Alcoa Technical Center, Alcoa Center, PA 15069

K. Srinivasan

Mechanical Engineering Department, The Ohio State University, Columbus, OH 43210

J. Dyn. Sys., Meas., Control 118(4), 795-797 (Dec 01, 1996) (3 pages) doi:10.1115/1.2802360 History: Received October 07, 1993; Revised October 07, 1993; Online December 03, 2007


Upper bounds on transient response magnitudes for a SISO continuous-time repetitive control system are derived. Limiting the size of these transients is shown to be related to limiting the ∞-norm of a transfer function product of filters used in the repetitive controller. The decay rate of the transients is related to the peak of a function of frequency called the regeneration spectrum, which has previously been shown in the literature to be a measure of the relative stability of the system. Bounds derived here, although conservative, can be useful in the design of the repetitive controller, as illustrated by means of an example.

Copyright © 1996 by The American Society of Mechanical Engineers
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