- Title
- A simplified method for discrete-time repetitive control using model-less finite impulse response filter inversion
- Creator
- Teo, Yik R.; Fleming, Andrew J.; Eielsen, Arnfinn A.; Tommy Gravdahl, J.
- Relation
- ARC
- Relation
- Journal of Dynamic Systems, Measurement and Control Vol. 138, Issue 8
- Publisher Link
- http://dx.doi.org/10.1115/1.4033274
- Publisher
- American Society of Mechanical Engineers
- Resource Type
- journal article
- Date
- 2016
- Description
- Repetitive control (RC) achieves tracking and rejection of periodic exogenous signals by incorporating a model of a periodic signal in the feedback path. To improve the performance, an inverse plant response filter (IPRF) is used. To improve robustness, the periodic signal model is bandwidth-limited. This limitation is largely dependent on the accuracy of the IPRF. A new method is presented for synthesizing the IPRF for discrete-time RC. The method produces filters in a simpler and more consistent manner than existing best-practice methods available in the literature, as the only variable involved is the selection of a windowing function. It is also more efficient in terms of memory and computational complexity than existing methods. Experimental results for a nanopositioning stage show that the proposed method yields the same or better tracking performance compared to existing methods.
- Subject
- discrete-time; repetitive control; periodic signals; feedback; inverse plant response filter
- Identifier
- http://hdl.handle.net/1959.13/1329114
- Identifier
- uon:26068
- Identifier
- ISSN:0022-0434
- Language
- eng
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