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Design of a repetitive controller as a feed-forward disturbance observer

Tang, Mi; Formentini, Andrea; Odhano, S; Zanchetta, Pericle

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Mi Tang

Andrea Formentini

S Odhano


From the structure point of view, a repetitive controller (RC) is considerably similar to a disturbance observer. By adding a correction term to the traditional RC and considering the disturbances as states, the repetitive controller can be designed in the same way as a disturbance observer. This paper presents therefore a new simple way of tuning a repetitive controller. Simulations show that, when compared with the traditional RC, the proposed RC configuration can achieve greater stability margin. As opposed to the traditional plug-in RC, the new RC structure studied in this paper is also shown to be robust against variations in the inner loop delays if it is used in a cascaded configuration. The immunity to plant parameter variations is another added benefit of the proposed controller.

Conference Name 42nd Annual Conference of the IEEE Industrial Electronics Society (IECON 2016)
End Date Oct 27, 2016
Acceptance Date Jun 25, 2016
Online Publication Date Dec 22, 2016
Publication Date Oct 23, 2016
Deposit Date Aug 22, 2016
Publicly Available Date Oct 23, 2016
Peer Reviewed Peer Reviewed
Keywords control design, discrete-time system, disturbance observer, reduced-order observer, repetitive control, stability analysis, state estimation
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