Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Repetitive Controller Design for a Robust Feedback Control System

강인한 궤환 제어 시스템을 위한 반복 제어기의 설계

  • 김광수 (국립한밭대학교 제어계측공학과) ;
  • 도태용 (국립한밭대학교 제어계측공학과)
  • Received : 2010.04.12
  • Accepted : 2010.05.12
  • Published : 2010.07.01
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Abstract

Given a periodic reference signal or disturbance, repetitive control is a special control scheme to reduce a tracking error effectively by the periodic signal generator in the repetitive controller. In general, a repetitive controller is added on the existing feedback control system to improve the tracking performance. However, because the information used in the design of the feedback controller is not taken into account, the design problem of the repetitive controller is totally another problem irrespective of that of the feedback controller. In this paper, we present a more general method to design an add-on type repetitive controller using the information on the performance of the existing feedback control system. We first show that a robust stability condition of repetitive control systems is obtained using the well-known robust performance condition of general feedback control systems. It is also shown that we can obtain a steady-state tracking error described in a simple form without time-delay element if the robust stability condition is satisfied for the repetitive control system. From the obtained results, several design criterions for repetitive controller are provided. Through the simulation study, the feasibility of the proposed method is verified.

Keywords

References

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Cited by

  1. Repetitive Control Systems using State Feedback vol.20, pp.1, 2014, https://doi.org/10.5302/J.ICROS.2014.13.1963