Robustness analysis of a gradient-based repetitive algorithm for discrete-time systems

被引：7

作者：

Hätönen, J ^{[1
]}

Freeman, C ^{[1
]}

Owens, DH ^{[1
]}

Lewin, P ^{[1
]}

Rogers, E ^{[1
]}

机构：

[1] Univ Sheffield, Dept Automat Control & Syst Engn, Sheffield S1 3JD, S Yorkshire, England

来源：

2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5 | 2004年

关键词：

D O I：

10.1109/CDC.2004.1430222

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates the possibility of using a truncated finite impulse response (FIR) model approximation to implement a well-known gradient type repetitive control algorithm. As a new result it is in fact shown that the algorithm iteratively solves a Model Predictive Control related cost function. Furthermore, it is shown how accurate the FIR approximation of the original system has to be in order for the algorithm to converge to zero tracking error. Under certain assumptions on the plant model it is shown that the algorithm results in monotonic convergence in the l(infinity)-norm. The algorithm is applied in real-time to a non-minimum mass-damper-spring system, and experimental results are compared to the theoretical results.

引用

页码：1301 / 1306

页数：6