This paper presents an optimal repetitive controller design approach when both frequency and time domain criteria are considered. These criteria include limited control force, convergence rate, and robustness. In particular, the design formulation is based on MISO (multiple-input-single-output) plants which aim at solving nodal point problems encountered in flexible dynamic systems. Nodal points represent physical constraints for feedback control, especially when their frequencies are within the control bandwidth. If multiple control paths with distinct nodal frequencies are available, the proposed method is able to design controllers to compensate the effect and reach certain design objectives. The ellipsoid algorithm is used to calculate controllers’ parameters. Experiments were conducted to demonstrate the proposed method.
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March 1998
Technical Papers
Optimal MISO Repetitive Control System Design Using Mixed Time and Frequency Domain Criteria
Jwusheng Hu,
Jwusheng Hu
Department of Control Engineering, National Chao-Tung University, Hsinchu, Taiwan
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Shiang-Hwua Yu,
Shiang-Hwua Yu
Department of Control Engineering, National Chao-Tung University, Hsinchu, Taiwan
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Shih-Chang Huang
Shih-Chang Huang
Department of Control Engineering, National Chao-Tung University, Hsinchu, Taiwan
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Jwusheng Hu
Department of Control Engineering, National Chao-Tung University, Hsinchu, Taiwan
Shiang-Hwua Yu
Department of Control Engineering, National Chao-Tung University, Hsinchu, Taiwan
Shih-Chang Huang
Department of Control Engineering, National Chao-Tung University, Hsinchu, Taiwan
J. Dyn. Sys., Meas., Control. Mar 1998, 120(1): 103-110 (8 pages)
Published Online: March 1, 1998
Article history
Received:
July 28, 1995
Online:
December 3, 2007
Connected Content
A companion article has been published:
Study of Hybrid Lubrication at the Tooth Contact of a Wormgear Transmission: Part 2—Results and Discussion
Citation
Hu, J., Yu, S., and Huang, S. (March 1, 1998). "Optimal MISO Repetitive Control System Design Using Mixed Time and Frequency Domain Criteria." ASME. J. Dyn. Sys., Meas., Control. March 1998; 120(1): 103–110. https://doi.org/10.1115/1.2801305
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