Application of Repetitive Control to a Peristaltic Pump

[+] Author and Article Information
Gunnar Hillerström, Jan Sternby

Division of Automatic Control, Luleå University of Technology, S-971 87 Luleå, Sweden

J. Dyn. Sys., Meas., Control 116(4), 786-789 (Dec 01, 1994) (4 pages) doi:10.1115/1.2899279 History: Received September 15, 1992; Revised September 09, 1993; Online March 17, 2008


The aim of this paper is to study angular velocity control of a rotating axis, a peristaltic pump where the disturbance is associated with certain angular positions. The use of constant sampling rate then implies varying disturbance period. A discrete repetitive control scheme based on a reduced order disturbance model tuned to the setpoint of the angular velocity is shown to reject the modeled disturbance with asymptotically zero error. With axis angle synchronization of sampling, the plant model is time-varying but it gives a static discrete disturbance model independent of the angular velocity. If the deviation from the nominal working point is not too large this is to prefer while it gives faster convergence.

Copyright © 1994 by The American Society of Mechanical Engineers
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