Position-Dependent Disturbance Rejection Using Spatial-Sampling Robust Repetitive Control With Actuator Saturation and Load Uncertainty

2002 ◽  
Author(s):  
Cheng-Lun Chen ◽  
George T.-C. Chiu
Keyword(s):  
Control System ◽  
Actuator Saturation ◽  
Repetitive Control ◽  
Transmission Error ◽  
Transmission System ◽  
Laser Printer ◽  
Spatial Frequencies ◽  
Previous Design ◽  
Proposed Modification ◽  
Repetitive Controller

This paper proposed modification to the previous design of a two degree-of-freedom (TDOF) repetitive control system for a motor/gear transmission system subject to time-varying position-dependent disturbances. The new discrete-position repetitive controller was operated in spatial domain where those periodic disturbances are stationary, i.e. their spatial frequencies do not vary with the nominal operating velocity of the transmission system. Thus, performance of the repetitive controller will not be compromised as the nominal velocity of the system may change due to friction or load variation. Besides, the modified control system also inherited other nice properties, e.g. robustness to actuator saturation and model uncertainties, from the previous design. Simulation and experimental results for a typical 600-dpi laser printer further justified the design by showing significant transmission error reduction. Halftone banding due to periodic transmission errors was also eliminated on printed images for the compensated system.

Transient Response of Repetitive Control Systems

1996 ◽  
Vol 118 (4) ◽  
pp. 795-797
Author(s):  
S. S. Garimella ◽  
K. Srinivasan
Keyword(s):  
Control System ◽  
Transfer Function ◽  
Decay Rate ◽  
Control Systems ◽  
Transient Response ◽  
Continuous Time ◽  
Relative Stability ◽  
Repetitive Control ◽  
Upper Bounds ◽  
Repetitive Controller

Upper bounds on transient response magnitudes for a SISO continuous-time repetitive control system are derived. Limiting the size of these transients is shown to be related to limiting the ∞-norm of a transfer function product of filters used in the repetitive controller. The decay rate of the transients is related to the peak of a function of frequency called the regeneration spectrum, which has previously been shown in the literature to be a measure of the relative stability of the system. Bounds derived here, although conservative, can be useful in the design of the repetitive controller, as illustrated by means of an example.

Laplace-type integral transform for time-varying periodic repetitive controller design

2018 ◽  
Vol 233 (2) ◽  
pp. 204-213
Author(s):  
Wu-Sung Yao ◽  
Po-Wen Hsueh
Keyword(s):  
Control System ◽  
Integral Transform ◽  
Controller Design ◽  
Integral Transformation ◽  
Repetitive Control ◽  
Periodic Signal ◽  
Time Varying ◽  
Type Integral ◽  
Laplace Type ◽  
Repetitive Controller

In this article, Laplace-type integral transformation is introduced to construct the recursive algorithm of the repetitive controller to regulate time-varying periodic signal. A theoretical analysis of Laplace-type integral transformation operator is adopted for time-varying repetitive controller design, where the stability and performance of the proposed repetitive control system are addressed. The implementation of the repetitive control strategy is investigated by a simulated example of the cycle ergometer. Results are given to illustrate that the proposed method is effectively used to analysis repetitive control system for the time-varying periodic signal regulation.

A Design Method for Robust Stabilizing Modified Repetitive Controllers for Time-Delay Plants

2010 ◽  
Vol 36 ◽  
pp. 233-242 ◽  
Author(s):  
Yoshinori Ando ◽  
Kou Yamada ◽  
Nobuaki Nakazawa ◽  
Takaaki Hagiwara ◽  
Iwanori Murakami ◽  
...  
Keyword(s):  
Control System ◽  
Time Delay ◽  
Stability Problem ◽  
Design Method ◽  
Repetitive Control ◽  
Control Design ◽  
Uniform Manner ◽  
The Stability ◽  
Reference Input ◽  
Repetitive Controller

In this paper, we examine the parameterization of all robust stabilizing modified repetitive controllers for time-delay plants. The modified repetitive control system is a type of servomechanism designed for a periodic reference input. When modified repetitive control design methods are applied to real systems, the influence of uncertainties in the plant must be considered. The stability problem with uncertainty is known as the robust stability problem. Recently, the parameterization of all stabilizing modified repetitive controllers was obtained. Since the parameterization of all stabilizing modified repetitive controllers was obtained, we can express previous study of robust stabilizing modified repetitive controller in a uniform manner and can design a stabilizing modified repetitive controller systematically. However, the parameterization of all robust stabilizing modified repetitive controllers for time-delay plants has not been obtained. In this paper, we clarify the parameterization of all robust stabilizing modified repetitive controllers for time-delay plants.

Effect Analysis of Polarization Aberration in the Non-Line-of-Sight Azimuth Transmission

2021 ◽  
Author(s):  
Zhiyong Yang ◽  
Junchen Song ◽  
Wei Cai ◽  
Danqiu Qiao ◽  
Gaoxiang Lu
Keyword(s):  
Normal Incidence ◽  
Transmission Error ◽  
Transmission System ◽  
Line Of Sight ◽  
Polarization Angle ◽  
Effect Analysis ◽  
Polarized Beam ◽  
Polarization Maintaining ◽  
Selection Of ◽  
Non Line Of Sight

Abstract Focusing on the problem that the polarization aberration caused by the non-normal incidence of the polarized beam affects the accuracy of the azimuth transmission during the fiber coupling process of the non-line-of-sight azimuth transmission system, this paper starts from the principle of non-line-of-sightazimuth transmission. The polarization aberration relation of the lens-fiber combined interface is established based on the Fresnel formulafor the attenuation difference between the horizontal and vertical electric vectors. Further, the azimuth solution model affected by polarization aberration is established. Numerical simulation results show that in non-normal incidence, no polarization aberration will occur when the polarization angle between the incident ray and incident surface is 0° or 90°. Otherwise, the polarization aberration changes toward the incident surface, and the azimuth transmission error will increase with the increase of the polarization aberration. Last, the optimization measures are proposed. This is of great significancefor further improvement of the azimuth transmission system based on polarization-maintaining fibers, the selection of the instrument,and the improvement of the system measurement accuracy.

Design of an Observer-Based Repetitive Control System to Reject Periodic Disturbance

2016 ◽  
Vol 25 (06) ◽  
pp. 1650061 ◽  
Author(s):  
Zhen Shao ◽  
Zhengrong Xiang
Keyword(s):  
Control System ◽  
Disturbance Rejection ◽  
Lyapunov Functional ◽  
Repetitive Control ◽  
Sufficient Condition ◽  
Two Dimensional ◽  
Periodic Disturbance ◽  
Repetitive Learning ◽  
The Stability ◽  
2D Model

This paper concerns the design of an observer-based repetitive control system (RCS) to improve the periodic disturbance rejection performance. The periodic disturbance is estimated by a repetitive learning based estimator (RLE) and rejected by incorporation of the estimation into a repetitive control (RC) input. Firstly, the configuration of the observer-based RCS with the RLE is described. Then, a continuous–discrete two-dimensional (2D) model is built to describe the RCS. By choosing an appropriate Lyapunov functional, a sufficient condition is proposed to guarantee the stability of the RCS. Finally, a numerical example is given to verify the effectiveness of the proposed method.

Stability Robustness of Repetitive Control Systems With Zero Phase Compensation

1990 ◽  
Vol 112 (3) ◽  
pp. 320-324 ◽  
Author(s):  
C. C. H. Ma
Keyword(s):  
Control System ◽  
Large Class ◽  
Control Systems ◽  
Repetitive Control ◽  
Tracking Performance ◽  
Three Solutions ◽  
Phase Compensation ◽  
Saturation Nonlinearity ◽  
Stability Robustness ◽  
Zero Phase

It is shown that a special zero phase control (ZPC) system introduced by Tomizuka is L∞ stable against a large class of common nonlinearities. However, it still suffers from the generic nonrobustness problem associated with a linear repetitive control system when subjected to a saturation nonlinearity. For the special ZPC system, however, three solutions exist for the problem, two of which do not degrade the repetitive tracking performance.

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