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TECHNICAL BRIEFS

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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References

Chew,  K. K., and Tomizuka,  M., 1990, “Digital Control of Repetitive Errors in Disk Drive System,” IEEE Control Syst. Mag.,10, pp. 16–20.
Guo,  L., 1997, “Reducing the Manufacturing Costs Associated With Hard Disk Drives—A New Disturbance Rejection Control Scheme,” IEEE/ASME Trans. Mechatron., 2(2), pp. 77–85.
Omata,  T., Hara,  S., and Nakano,  M., 1987, “Nonlinear Repetitive Control With Application to Trajectory Control of Manipulators,” J. Rob. Syst., 4(5), pp. 631–652.
Shaw,  F. R., and Srinivasan,  K., 1993, “Discrete-Time Repetitive Control System Design Using the Regeneration Spectrum,” ASME J. Dyn. Syst., Meas., Control, 115, pp. 228–237.
Srinivasan,  K., and Shaw,  F. R., 1991, “Analysis and Design of Repetitive Control Systems Using the Regeneration Spectrum,” ASME J. Dyn. Syst., Meas., Control, 113, pp. 216–222.
Tsao, T.-C., and Tomizuka, M., 1988, “Adaptive and Repetitive Digital Control Algorithms for Noncircular Machining,” Proceedings of American Control Conference, Atlanta, GA, pp. 115–120.
Tsao,  T.-C., and Tomizuka,  M., 1994, “Robust Adaptive and Repetitive Digital Tracking Control and Application to a Hydraulic Servo for Noncircular Machining,” ASME J. Dyn. Syst., Meas., Control, 116, pp. 24–32.
Tsao, T.-C., Hanson, R. D., Sun, Z., and Babinski, A., 1998, “Motion Control of Non-Circular Turning Process for Camshaft Machining,” Japan-USA Symposium on Flexible Automation, Otsu, Japan, pp. 485–489.
Tomizuka,  M., Tsao,  T.-C., and Chew,  K. K., 1989, “Analysis and Synthesis of Discrete-Time Repetitive Controllers,” ASME J. Dyn. Syst., Meas., Control, 111, pp. 353–358.
Güvenç,  L., 1996, “Stability and Performance Robustness Analysis of Repetitive Control Systems Using Structured Singular Values,” ASME J. Dyn. Syst., Meas., Control, 118, pp. 593–597.
Li, J., and Tsao, T.-C., 1998, “Robust Performance Repetitive Control Design Using Structured Singular Values and Its Implementation,” DSC-Vol. 64, Proc. the ASME Dynamic Systems and Control Division, 347–353, Anaheim, CA, Nov. 1998.
Li, J., and Tsao, T.-C., 1998, “A Two Parameter Robust Repetitive Control Design Using Structured Singular Values,” Proceedings of the 37th IEEE Conference on Decision and Control, pp. 1230–1235.
Li,  J., and Tsao,  T.-C., 2001, “Robust Performance Repetitive Control Systems,” ASME J. Dyn. Syst., Meas., Control, 123, 330–337.
Peery,  T. E., and Özbay,  H., 1997, “H Optimal Repetitive Controller Design for Stable Plants,” ASME J. Dyn. Syst., Meas., Control, 119, pp. 541–547.
Zhou, K., Doyle, J. C., and Glover, K., 1996, Robust and Optimal Control, ISBN 0-13-456567-3, Prentice-Hall, Upper Saddle River, New Jersey.
Kim,  D. H., and Tsao,  T.-C., 2000, “A Linearized Electrohydraulic Servovalve Model for Valve Dynamics Sensitivity Analysis and Control System Design,” ASME J. Dyn. Syst., Meas., Control, 122, pp. 179–187, March.
Kim,  D. H., and Tsao,  T.-C., 2000, “Robust Performance Control of Electrohydraulic Actuators for Electronic Cam Motion Generation,” IEEE Trans. Control Syst. Technol., 8, pp. 220–227, March.
Kim, Byung-Sub, 2001, “Control of Multiple Degree of Freedom Fast Tool Stages for Noncircular Turning Process,” Dissertation, University of Illinois at Urbana-Champaign, January.

Figures

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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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Experimental results  

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