Abstract
Repetitive control (RC) enables high control performance for systems subject to periodic disturbances. Many disturbances in mechatronic applications involve the sum of multiple periodic signals, which is not necessarily periodic over a small time interval. The contribution of this article is a design procedure for multiple repetitive controllers, each addressing a single periodic component that achieves high performance with fast convergence in the presence of multiple periodic disturbances. The developed approach involves sequential design of the controllers, and systematically addresses modeling errors and coupling between controllers. An experimental case study on an industrial roll-to-roll printer confirms the benefits of the proposed approach, including superior performance compared to preexisting RC designs.
Original language | English |
---|---|
Article number | 8962172 |
Pages (from-to) | 770-778 |
Number of pages | 9 |
Journal | IEEE/ASME Transactions on Mechatronics |
Volume | 25 |
Issue number | 2 |
DOIs | |
Publication status | Published - Apr 2020 |
Funding
Manuscript received June 17, 2019; revised November 18, 2019; accepted January 14, 2020. Date of publication January 17, 2020; date of current version April 15, 2020. This work was supported in part by Océ Technologies and in part by the Netherlands Organisation for Scientific Research (NWO) through the Research Programme VIDI under Project 15698. Recommended by Technical Editor Q. Zou. (Corresponding author: Lennart Blanken.) L. Blanken, P. Bevers, and T. Oomen are with the Control Systems Technology Group, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 Eindhoven, The Netherlands (e-mail: [email protected]; [email protected]; [email protected]).
Keywords
- Mechatronics
- motion control
- repetitive control