A new and simple repetitive controller design procedure in controller parameter space, where the structure of the filters in the repetitive controller are fixed from the start and parameters within these filters are tuned, is presented here. This approach results in simple and physically meaningful controllers that are easily implementable. The design method is based on mapping frequency domain performance specifications into a chosen plane of controller parameters. Sensitivity function magnitude bounds and a relative stability measure are chosen as the frequency domain specifications to be mapped into controller parameter space here. The design method is illustrated numerically in the context of a servohydraulic material testing machine application available in the literature.
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March 2003
Technical Briefs
Repetitive Controller Design in Parameter Space
Levent Gu¨venc¸, Professor,
Levent Gu¨venc¸, Professor,
Department of Mechanical Engineering, I˙stanbul Technical University, Gu¨mu¨s¸suyu, Taksim, I˙stanbul, Turkey
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Levent Gu¨venc¸, Professor,
Department of Mechanical Engineering, I˙stanbul Technical University, Gu¨mu¨s¸suyu, Taksim, I˙stanbul, Turkey
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, November 2001; final revision, June 2002. Associate Editor: P. Voulgaris.
J. Dyn. Sys., Meas., Control. Mar 2003, 125(1): 134-138 (5 pages)
Published Online: March 10, 2003
Article history
Received:
November 1, 2001
Revised:
June 1, 2002
Online:
March 10, 2003
Citation
Gu¨venc¸ , L. (March 10, 2003). "Repetitive Controller Design in Parameter Space ." ASME. J. Dyn. Sys., Meas., Control. March 2003; 125(1): 134–138. https://doi.org/10.1115/1.1540115
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