Robust repetitive controller design in parameter space


Guvenc B., Guvenc L.

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, cilt.128, ss.406-413, 2006 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 128 Konu: 2
  • Basım Tarihi: 2006
  • Doi Numarası: 10.1115/1.2196417
  • Dergi Adı: JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
  • Sayfa Sayıları: ss.406-413

Özet

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.