A Performance Enhancement Scheme for Robust Repetitive Control System

[+] Author and Article Information
Byung-Sub Kim

Intelligence and Precision Machine Department, Korea Institute of Machinery and Materials

Tsu-Chin Tsao

Mechanical and Aerospace Engineering Department, University of California, Los Angeles, CA 90095

J. Dyn. Sys., Meas., Control 126(1), 224-229 (Apr 12, 2004) (6 pages) doi:10.1115/1.1650386 History: Received November 19, 2001; Revised July 25, 2003; Online April 12, 2004
Copyright © 2004 by ASME
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Experimental results  
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ZPETC-type repetitive controller structure
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Periodic signal generators connected in series
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Plots of approximations of S0(z),Smod(z), and Sserial(z)
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Behavior of the denominator of Sserial(z)
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Repetitive controller with the modified q(z,z−1) filter
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Robust repetitive controller design structure
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μ-synthesis design block diagram
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Bode plot of the electrohydraulic actuator, G(z)
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Magnitude Bode plot of filters and weights used in the control design
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Comparison of sensitivity functions
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Comparison of sensitivity functions—zoom-in view
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Simulaton results: comparison of steady-state tracking errors
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Simulation results: comparison of transient tracking errors




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