Robust Repetitive Controller Design in Parameter Space

[+] Author and Article Information
Bilin Aksun Güvenç, Levent Güvenç

Department of Mechanical Engineering, Istanbul Technical University, Istanbul, TR-34437 Turkey

Becomes a sufficient and necessary condition as τd becomes large.

J. Dyn. Sys., Meas., Control 128(2), 406-413 (Mar 05, 2005) (8 pages) doi:10.1115/1.2196417 History: Received November 27, 2003; Revised March 05, 2005

A new and simple robust repetitive controller design procedure in controller parameter space is presented here. The structure of the repetitive controller filters are fixed, thus, simplifying the design procedure to tuning of the fixed structure filters’ parameters. This approach results in simple and physically meaningful robust controllers that are easily implementable. The design method is based on mapping frequency domain performance specifications into a chosen controller parameter plane. Weighted sensitivity (nominal performance) and weighted complementary sensitivity (robust stability) function magnitude bounds are chosen as the frequency domain specifications to be mapped into controller parameter space here. The design method is illustrated numerically in the context of a servohydraulic material testing machine application available in the literature.

Copyright © 2006 by American Society of Mechanical Engineers
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Figure 1

Repetitive control structure

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Figure 2

Repetitive control architecture for implementation

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Figure 3

Robust performance

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Figure 4

Illustration of the point condition (for nominal performance)

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Figure 5

Illustration of the point condition (for robust stability)

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Figure 6

Controller parameter space for conservative robust performance

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Figure 7

Solution region satisfying nominal performance requirement

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Figure 8

Region where nominal performance and robust stability are satisfied

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Figure 9

Robust stability condition weight

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Figure 10

Simulation result for triangular wave input at 10Hz(τd=0.1sec)

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Figure 11

Simulation result for triangular wave input at 25Hz(τd=0.04sec)




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