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Design of noise and period-time robust high-order repetitive control, with application to optical storage |
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| Authors: | Maarten Siep Tarunraj |
| Affiliation: | aControl Systems Technology Group, Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB, Eindhoven, Netherlands bControl Systems Group, Department of Electrical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands cDepartment of Mechanical and Aerospace Engineering, SUNY at Buffalo, Buffalo, NY 14260, USA |
| Abstract: | Repetitive control is useful if periodic disturbances or setpoints act on a control system. Perfect (asymptotic) disturbance rejection is achieved if the period time is exactly known. The improved disturbance rejection at the periodic frequency and its harmonics is achieved at the expense of a degraded system sensitivity at intermediate frequencies. A convex optimization problem is defined for the design of high-order repetitive controllers, where a trade-off can be made between robustness for changes in the period time and for reduction of the error spectrum in-between the harmonic frequencies. The high-order repetitive control algorithms are successfully applied in experiments with the tracking control of a CD-player system. |
| Keywords: | Repetitive control Compact disc player Periodic disturbances Internal model principle |
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