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Robust Discrete-Time Spatial Repetitive Controller
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DOI：10.1109/TCST.2018.2866978.png)
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摘要
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This brief proposes a novel discrete-time realization of the spatial repetitive controller topology, an internal model principle-based regulator, which deals with the exogenous position-dependent periodic signals. A simple procedure is proposed in order to estimate the time-varying delay required to implement this spatial controller, resulting in a single recursive equation. A robust synthesis methodology based on a convex optimization problem constrained by linear matrix inequalities is also presented in order to guarantee the closed-loop system stability and performance in the presence of uncertain plant dynamics. The proposed design and implementation methods are validated on a direct current motor subject to angle-dependent disturbances.
Keyword:
Delays
Robustness
Time-domain analysis
Mathematical model
Rotating machines
Asymptotic stability
Transfer functions
Internal model principle (IMP)
output regulation
repetitive control
rotating machines
spatial-dependent signals
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3.9
论文数:
4.9K
被引数:
1.7W
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