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

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

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.

Citation

Tang, M., Formentini, A., Odhano, S., & Zanchetta, P. (2016). Design of a repetitive controller as a feed-forward disturbance observer.

• 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
• Public URL: https://nottingham-repository.worktribe.com/output/822158
• Publisher URL: http://ieeexplore.ieee.org/document/7793242/