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In many industrial robotic applications there is a need to
track periodic reference signals and/or reject periodic disturbances. This
paper presents a novel repetitive control design for systems with constant
time-delays in both forward and feedback control channels. An additional
delay is introduced together with plant delays to construct an internal
model for periodic signals, and a simple proportional control is utilized
to stabilize the closed-loop system. Sufficient stability conditions of the
closed-loop system and the robustness analysis under modeling uncertainties
are studied. Experimental results are included to evaluate the
validity and effectiveness of the proposed method.
CitationNa, J. [et al.]. Repetitive control for systems with time-delays and application to robotic servo motor. A: Annual Conference on Towards Autonomous Robotic Systems. "Lecture Notes in Computer Science". 2012, p. 377-389.
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