Adaptive Compensation Strategy For The Tracking/Rejection of Signals with Time-Varying Frequency in Digital Repetitive Control Systems

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Document typeConference report
Defense date2009-09
Rights accessOpen Access
Abstract
Digital repetitive control is a technique which al-
lows to track periodic references and/or reject peri-
odic disturbances. Repetitive controllers are usually de-
signed assuming a fixed frequency for the signals to be
tracked/rejected, its main drawback being a dramatic per-
formance decay when this frequency varies. A usual ap-
proach to overcome the problem consists of an adap-
tive change of the sampling time according to the refer-
ence/disturbance period variation. However, this sam-
pling period adaptation implies parametric changes af-
fecting the closed-loop system behavior, that may compro-
mise the system stability. This article presents a design
strategy which allows to compensate for the parametric
changes caused by sampling period adjustment. Stabil-
ity of the digital repetitive controller working under time-
varying sampling period is analyzed. Theoretical devel-
opments are illustrated with experimental results.
CitationRamos, G.A.; J.M. Olm; Costa-Castelló, R. Adaptive Compensation Strategy For The Tracking/Rejection of Signals with Time-Varying Frequency in Digital Repetitive Control Systems. A: IEEE International Conference on Emerging Techonologies and Factory. "14th IEEE International Conference on Emerging Techonologies and Factory ry Automation". Mallorca: 2009, p. 1-7.
ISBN978-1-4244-2728-4
Publisher versionhttp://www.etfa2009.org
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