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

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

Authors

Mi Tang eexmt10@nottingham.ac.uk

Andrea Formentini ezzaf1@exmail.nottingham.ac.uk

S Odhano

Pericle Zanchetta pericle.zanchetta@nottingham.ac.uk



Abstract

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.

Publication Date Oct 23, 2016
Peer Reviewed Peer Reviewed
APA6 Citation Tang, M., Formentini, A., Odhano, S., & Zanchetta, P. (2016). Design of a repetitive controller as a feed-forward disturbance observer
Keywords control design, discrete-time system, disturbance observer, reduced-order observer, repetitive control, stability analysis, state estimation
Publisher URL http://ieeexplore.ieee.org/document/7793242/
Copyright Statement Copyright information regarding this work can be found at the following address: http://eprints.nottingh.../end_user_agreement.pdf

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Design of a repetitive controller as a feed-forward disturbance observer.pdf (528 Kb)
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Copyright Statement
Copyright information regarding this work can be found at the following address: http://eprints.nottingham.ac.uk/end_user_agreement.pdf





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