Analysis and synthesis of discrete-time repetitive controllers. (English) Zbl 0696.93028

Tomizuka, Masayoshi; Tsao, Tsu-Chin; Chew, Kok-Kia

J. Dyn. Syst. Meas. Control 111, No. 3, 353-358 (1989).

Summary: Repetitive control is formulated and analyzed in the discrete-time domain. Sufficiency conditions for the asymptotic convergence of a class of repetitive controllers are given. The “plug-in” repetitive controller is introduced and applied to track-following in a disk-file actuator system. Inter-sample ripples in the tracking error were present when the “plug-in” repetitive controller was installed. The performance is enhanced, however, when the zero-holding device is followed by a low- pass filter or replaced by a delayed first-order hold.

MSC:

93B50	Synthesis problems
93D15	Stabilization of systems by feedback
93C55	Discrete-time control/observation systems
93D20	Asymptotic stability in control theory

Keywords:

Repetitive control; disk-file actuator system