Discrete-time adaptive repetitive control : internal model approach

Andrzej Królikowski; Dariusz Horla

doi:10.5220/0001479700900095

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Title

Discrete-time adaptive repetitive control : internal model approach

Authors

Andrzej Królikowski (WE) ^{[ 1 ]}
Dariusz Horla (WE) ^{[ 1 ][ P ]}

^{[ 1 ]} Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2008

Chapter type

paper

Publication language

english

Keywords

EN

discrete-time systems
IMC structure
adaptive repetitive control

Abstract

EN Repetitive control is known as one of the most effective methods to reduce repetitive errors with a known period in various practical control systems performing repetitive tasks. The application of Internal Model Control (IMC) structure for repetitive control is introduced. Two IMC-based repetitive control configurations are proposed together with their adaptive versions. A comparative simulation study is carried out for the model of a first link of the robot.

Pages (from - to)

90 - 95

DOI

10.5220/0001479700900095

URL

https://www.scitepress.org/PublicationsDetail.aspx?ID=KRKvTvoTg7A=&t=1

Book

ICINCO 2008 : Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics, Signal Processing, Systems Modeling and Control, Funchal, Madeira, Portugal, May 11-15, 2008, Vol. 4

Presented on

5th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2008, 11-15.05.2008, Funchal, Madeira, Portugal

License type

CC BY-NC-ND (attribution - noncommercial - no derivatives)