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EnglishFrom the structure point of view, a repetitive controller (RC) is considerably similar to a disturbance observer. By adding a correction term to the traditional RC and considering the disturbances as states, the repetitive controller can be designed in the same way as a disturbance observer. This paper presents therefore a new simple way of tuning a repetitive controller. Simulations show that, when compared with the traditional RC, the proposed RC configuration can achieve greater stability margin. As opposed to the traditional plug-in RC, the new RC structure studied in this paper is also shown to be robust against variations in the inner loop delays if it is used in a cascaded configuration. The immunity to plant parameter variations is another added benefit of the proposed controller.
Design of a repetitive controller as a feed-forward disturbance observer / Tang, M.; Formentini, A.; Odhano, S.; Zanchetta, P.. - ELETTRONICO. - (2016), pp. 78-83. ((Intervento presentato al convegno 42nd Conference of the Industrial Electronics Society, IECON 2016 tenutosi a Palazzo dei Congressi, ita nel 2016.
| Titolo: | Design of a repetitive controller as a feed-forward disturbance observer |
| Autori: | |
| Data di pubblicazione: | 2016 |
| Abstract: | From the structure point of view, a repetitive controller (RC) is considerably similar to a distu...rbance observer. By adding a correction term to the traditional RC and considering the disturbances as states, the repetitive controller can be designed in the same way as a disturbance observer. This paper presents therefore a new simple way of tuning a repetitive controller. Simulations show that, when compared with the traditional RC, the proposed RC configuration can achieve greater stability margin. As opposed to the traditional plug-in RC, the new RC structure studied in this paper is also shown to be robust against variations in the inner loop delays if it is used in a cascaded configuration. The immunity to plant parameter variations is another added benefit of the proposed controller. |
| ISBN: | 9781509034741 |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| IECON2016_repetitive.pdf | File disponibile sul sito IEEE | 2a Post-print versione editoriale / Version of Record | Non Pubblico - Accesso privato/ristretto | Administrator Richiedi una copia |
http://hdl.handle.net/11583/2732168
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