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
URI: 2-s2.0-85072530736
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)

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