scholarly journals Erratum to : Stability Condition and Synthesis Methods for Repetitive Control Systems

1986 ◽  
Vol 22 (4) ◽  
pp. 496b-496b
Keyword(s):  
Control Systems ◽  
Stability Condition ◽  
Repetitive Control ◽  
Synthesis Methods

Stability Robustness of Repetitive Control Systems With Zero Phase Compensation

1990 ◽  
Vol 112 (3) ◽  
pp. 320-324 ◽  
Author(s):  
C. C. H. Ma
Keyword(s):  
Control System ◽  
Large Class ◽  
Control Systems ◽  
Repetitive Control ◽  
Tracking Performance ◽  
Three Solutions ◽  
Phase Compensation ◽  
Saturation Nonlinearity ◽  
Stability Robustness ◽  
Zero Phase

It is shown that a special zero phase control (ZPC) system introduced by Tomizuka is L∞ stable against a large class of common nonlinearities. However, it still suffers from the generic nonrobustness problem associated with a linear repetitive control system when subjected to a saturation nonlinearity. For the special ZPC system, however, three solutions exist for the problem, two of which do not degrade the repetitive tracking performance.

Compensation for Input Nonlinearities in Repetitive Control Systems Based on Improved Equivalent-Input-Disturbance Approach

2016 ◽  
Vol 20 (1) ◽  
pp. 146-154 ◽  
Author(s):  
Wenjing Cai ◽  
◽  
Min Wu ◽  
Jinhua She ◽  
Luefeng Chen ◽  
...  
Keyword(s):  
Control Systems ◽  
Prior Information ◽  
Repetitive Control ◽  
Control Law ◽  
Extended State ◽  
Input Disturbance ◽  
Actuator Nonlinearities ◽  
Equivalent Input Disturbance ◽  
Reference Input ◽  
Tracking Period

The equivalent-input-disturbance (EID) approach is used to deal with the problem of tracking period signals for a plant with input actuator nonlinearities in a repetitive control system. First, an EID estimator is constructed by taking the full advantage of an extended state observer (ESO), the design of the ESO is explained. Next, an EID estimate, which represents the synthetic effect of the nonlinearities, is incorporated into a repetitive control law to compensate for the effect caused by the nonlinearities. This method does not require any prior information about the nonlinearities. It guarantees perfect tracking for periodic reference input and satisfactory compensation for input nonlinearities at the same time. Finally, simulation and experimental results show the effectiveness of the method.

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