Nonlinear repetitive control

被引:95
作者
Ghosh, J [1 ]
Paden, B [1 ]
机构
[1] Univ Calif Santa Barbara, Dept Mech & Environm Engn, Santa Barbara, CA 93106 USA
关键词
internal model principle; nonlinear; tracking;
D O I
10.1109/9.855558
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Repetitive controllers are generally applied to reject periodic disturbances and to track periodic reference signals with a known period. Their design is based on The Internal Model Principle, proposed by Francis and Wonham. This paper describes a new finite-dimensional SISO repetitive controller for two different classes of nonlinear plants. Simulation results show asymptotic tracking of the periodic reference signal by the proposed repetitive controller in closed loop up to the Nth harmonic frequency. A proof of robustness of the repetitive control system to small nonlinearities, like actuator nonlinearities, is provided.
引用
收藏
页码:949 / 954
页数:6
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