Design of noise and period-time robust high-order repetitive control, with application to optical storage. (English) Zbl 1138.93347

Summary: 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.


93B51 Design techniques (robust design, computer-aided design, etc.)
93B35 Sensitivity (robustness)
68P20 Information storage and retrieval of data
93C95 Application models in control theory
Full Text: DOI


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