Analysis and Synthesis of Discrete-Time Repetitive Controllers

1989 ◽  
Vol 111 (3) ◽  
pp. 353-358 ◽  
Author(s):  
Masayoshi Tomizuka ◽  
Tsu-Chin Tsao ◽  
Kok-Kia Chew
Keyword(s):  
Discrete Time ◽  
Tracking Error ◽  
Disk File ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Analysis And Synthesis ◽  
Holding Device ◽  
Low Pass ◽  
Actuator System ◽  
Repetitive Controller

Repetitive control is formulated and analyzed in the discrete-time domain. Sufficiency conditions for the asymptotic convergence of a class of repetitive controllers are given. The “plug-in” repetitive controller is introduced and applied to track-following in a disk-file actuator system. Inter-sample ripples in the tracking error were present when the “plug-in” repetitive controller was installed. The performance is enhanced, however, when the zero-holding device is followed by a low-pass filter or replaced by a delayed first-order hold.

Design of Programmable Wideband Low Pass Filter with Continuous-Time/Discrete-Time Hybrid Architecture

2017 ◽  
Vol E100.C (10) ◽  
pp. 858-865 ◽  
Author(s):  
Yohei MORISHITA ◽  
Koichi MIZUNO ◽  
Junji SATO ◽  
Koji TAKINAMI ◽  
Kazuaki TAKAHASHI
Keyword(s):  
Discrete Time ◽  
Continuous Time ◽  
Hybrid Architecture ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Low Pass

scholarly journals Adaptive anti-disturbance control for a class of unknown pure feedback switched nonlinear systems

2021 ◽  
Author(s):  
Longsheng Chen
Keyword(s):  
Nonlinear Systems ◽  
Design Method ◽  
Tracking Error ◽  
Average Dwell Time ◽  
Switched Nonlinear Systems ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Control Scheme ◽  
Low Pass ◽  
Set Up

Abstract In this study, an adaptive anti-disturbance control scheme is investigated for a class of unknown pure feedback switched nonlinear systems subjected to immeasurable states and external disturbances. Radial basis function neural networks (RBFNNs) are employed to identify the switched unknown nonlinearities, and a Butterworth low-pass filter is adopted to remove the algebraic loop problem. Subsequently, a novel switched neural state observer and a novel switched disturbance are presented via the coupled design method to estimate the immeasurable states and compounded disturbances. Then, an improved adaptive control strategy for the studied problem is designed with the help of a filtering method to eliminate the “explosion of complexity” problem, and certain compensating signals are set up to compensate for the filter errors, where switched updated laws are constructed to lessen the conservativeness caused by adoption of a common updated law for all subsystems. By utilizing the Lyapunov stability theorem, the developed control scheme can guarantee that all signals in the closed-loop system are bounded under a class of switching signals with the average dwell time (ADT), while the tracking error can converge to a small neighbourhood of origin. Finally, simulation results are provided to demonstrate the effectiveness of the presented approach.

Dynamic mass measurement in checkweighers using a discrete time-variant low-pass filter

2014 ◽  
Vol 48 (1-2) ◽  
pp. 67-76 ◽  
Author(s):  
Przemysław Pietrzak ◽  
Michał Meller ◽  
Maciej Niedźwiecki
Keyword(s):  
Discrete Time ◽  
Mass Measurement ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Dynamic Mass ◽  
Low Pass

Tracking Performance Improvement of Repetitive Controller for Nano-Manipulating Systems With Time Delays

2019 ◽  
Author(s):  
Pengbo Liu ◽  
Peng Yan
Keyword(s):  
Time Delay ◽  
Performance Improvement ◽  
Controller Design ◽  
Repetitive Control ◽  
Tracking Performance ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Performance Improvements ◽  
Low Pass ◽  
Repetitive Controller

Abstract This paper investigates the robust repetitive controller design with improved tracking performance for nano-manipulating systems with time delay. In order to handle the time delay caused by the analog-to-digital (A/D) conversion of the capacitive sensors with ultra high precision, we modify the conventional repetitive control structure where the design of low pass filter is formulated as an H∞ optimization problem. For the purpose of tracking performance improvement, we further modify the structure of the low pass filter by shaping the sensitivity functions of the closed-loop system. With consideration of the existing of model uncertainties, the design of the modified low pass filter is also formulated as an H∞ optimization of infinite dimensional systems. The effectiveness of the proposed repetitive control architecture is further verified by real time experiments on a piezo driven nano-stage, where significant tracking performance improvements are demonstrated comparing with the traditional repetitive controller.

Hybrid Adaptive Robust Controller on Inertial Gyro LOS Platform

2014 ◽  
Vol 513-517 ◽  
pp. 2910-2913
Author(s):  
Cui Hua Luo ◽  
Cai Wen Ma ◽  
Yan Li
Keyword(s):  
Control System ◽  
Tracking Error ◽  
Adaptive Robust Control ◽  
Start Time ◽  
Robust Controller ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Variable Metric ◽  
Control Schemes ◽  
Low Pass

This paper was presented one new modified controller scheme for inertial gyro control system. Based on Narendras hybrid adaptive law, the modified algorithm was variable metric that took use of parameter matrix Γkto obtain two updating laws in turn online. The key modified contents were: 1) the output y (t) was passed by one low-pass filter, 2) the parameter was updating in term of one proper initial Γ0and the measurable values. The objective of the proposed new adaptive robust control schemes was to achieve fast convergence of parameter updating, and promise good robust stability of control system during tracking, reduce the tracking error at start-time with filtered output.

scholarly journals Analysis and Design of a High-Order Discrete-Time Passive IIR Low-Pass Filter

2014 ◽  
Vol 49 (11) ◽  
pp. 2575-2587 ◽  
Author(s):  
Massoud Tohidian ◽  
Iman Madadi ◽  
Robert Bogdan Staszewski
Keyword(s):  
Discrete Time ◽  
High Order ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Analysis And Design ◽  
Low Pass
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