Design of Decentralized Repetitive Control of Linear MIMO System

被引：0
作者：
Kurniawan, Edi [1 ]
Cao, Zhenwei [1 ]
Man, Zhihong [1 ]
机构：
[1] Swinburne Univ Technol, Fac Engn & Ind Sci, Hawthorn, Vic 3122, Australia
来源：
PROCEEDINGS OF THE 2013 IEEE 8TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA) | 2013年
关键词：
repetitive control; decentralized control; MIMO system;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper proposes decentralized repetitive control (RC) design for multiple inputs multiple outputs (MIMO) system. The design comprises in both continuous and discrete-time domain. A decentralized stabilizing controller is firstly developed in continuous-time to achieve a desired complimentary sensitivity function. Relative Gain Array (RGA) analysis is used to obtain the best pairings of inputs and outputs. Then, robustness analysis is conducted to determine the impact of neglected couplings. Secondly, the RC is designed in discrete-time based on the information of complimentary sensitivity function. A set of low order, stable and causal repetitive control compensators are developed using a new frequency domain method. The proposed RC compensator works for both minimum and non-minimum phase system. Simulation results for linear MIMO model of pick and place robot arm are presented to validate the effectiveness of the design.
引用
收藏
页码：427 / 432
页数：6
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