Title: | PI Plus Repetitive Control Design: H-infinity Regions Approach |
Authors: | Goubej, Martin Schlegel, Miloš |
Citation: | GOUBEJ, M., SCHLEGEL, M. PI Plus Repetitive Control Design: H-infinity Regions Approach. In: Proceedings of the 2019 22nd International Conference on Process Control, PC 2019. Strbske Pleso; Slovakia: Slovak University of Technology in Bratislava, 2019. s. 62-67. ISBN 978-1-72813-758-2. |
Issue Date: | 2019 |
Publisher: | Slovak University of Technology in Bratislava |
Document type: | konferenční příspěvek conferenceObject |
URI: | 2-s2.0-85072530736 http://hdl.handle.net/11025/36661 |
ISBN: | 978-1-72813-758-2 |
Keywords in different language: | repetitive control;periodic disturbance rejection;PI control;loopshaping;H-infinity regions;motion control |
Abstract: | The paper deals with a class of plug-in type repetitive controllers intended for servo systems which follow periodic reference signals or compensate periodic exogenous disturbances. Proportional-integral (PI) feedback controller is complemented by an internal model of a generic periodic signal aiming at perfect asymptotic tracking or disturbance rejection. A novel design method is proposed allowing a simultaneous tuning of the PI controller and the repetitive control part. The design requirements can be formulated in the frequency domain as proper loopshaping inequalities defining constraints on important closed-loop sensitivity functions. These constraints are translated directly into the parametric plane of the controller allowing to derive a complete set of admissible controllers. The proposed method is demonstrated in a case study of a flexible motion system. |
Rights: | Plný text je přístupný v rámci univerzity přihlášeným uživatelům. © Slovak University of Technology in Bratislava |
Appears in Collections: | Konferenční příspěvky / Conference Papers (KKY) OBD |
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