Design of a repetitive controller as a feed-forward disturbance observer
From the structure point of view, a repetitive controller (RC) is considerably similar to a disturbance observer. By adding a correction term to the traditional RC and considering the disturbances as states, the repetitive controller can be designed in the same way as a disturbance observer. This pa...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
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2016
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| Online Access: | https://eprints.nottingham.ac.uk/35829/ |
| _version_ | 1848795170249637888 |
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| author | Tang, Mi Formentini, Andrea Odhano, S Zanchetta, Pericle |
| author_facet | Tang, Mi Formentini, Andrea Odhano, S Zanchetta, Pericle |
| author_sort | Tang, Mi |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | From the structure point of view, a repetitive controller (RC) is considerably similar to a disturbance observer. By adding a correction term to the traditional RC and considering the disturbances as states, the repetitive controller can be designed in the same way as a disturbance observer. This paper presents therefore a new simple way of tuning a repetitive controller. Simulations show that, when compared with the traditional RC, the proposed RC configuration can achieve greater stability margin. As opposed to the traditional plug-in RC, the new RC structure studied in this paper is also shown to be robust against variations in the inner loop delays if it is used in a cascaded configuration. The immunity to plant parameter variations is another added benefit of the proposed controller. |
| first_indexed | 2025-11-14T19:27:50Z |
| format | Conference or Workshop Item |
| id | nottingham-35829 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| last_indexed | 2025-11-14T19:27:50Z |
| publishDate | 2016 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-358292020-05-04T18:16:02Z https://eprints.nottingham.ac.uk/35829/ Design of a repetitive controller as a feed-forward disturbance observer Tang, Mi Formentini, Andrea Odhano, S Zanchetta, Pericle From the structure point of view, a repetitive controller (RC) is considerably similar to a disturbance observer. By adding a correction term to the traditional RC and considering the disturbances as states, the repetitive controller can be designed in the same way as a disturbance observer. This paper presents therefore a new simple way of tuning a repetitive controller. Simulations show that, when compared with the traditional RC, the proposed RC configuration can achieve greater stability margin. As opposed to the traditional plug-in RC, the new RC structure studied in this paper is also shown to be robust against variations in the inner loop delays if it is used in a cascaded configuration. The immunity to plant parameter variations is another added benefit of the proposed controller. 2016-10-23 Conference or Workshop Item PeerReviewed Tang, Mi, Formentini, Andrea, Odhano, S and Zanchetta, Pericle (2016) Design of a repetitive controller as a feed-forward disturbance observer. In: 42nd Annual Conference of the IEEE Industrial Electronics Society (IECON 2016), 24-27 October 2016, Florence, Italy. control design discrete-time system disturbance observer reduced-order observer repetitive control stability analysis state estimation http://ieeexplore.ieee.org/document/7793242/ |
| spellingShingle | control design discrete-time system disturbance observer reduced-order observer repetitive control stability analysis state estimation Tang, Mi Formentini, Andrea Odhano, S Zanchetta, Pericle Design of a repetitive controller as a feed-forward disturbance observer |
| title | Design of a repetitive controller as a feed-forward
disturbance observer |
| title_full | Design of a repetitive controller as a feed-forward
disturbance observer |
| title_fullStr | Design of a repetitive controller as a feed-forward
disturbance observer |
| title_full_unstemmed | Design of a repetitive controller as a feed-forward
disturbance observer |
| title_short | Design of a repetitive controller as a feed-forward
disturbance observer |
| title_sort | design of a repetitive controller as a feed-forward
disturbance observer |
| topic | control design discrete-time system disturbance observer reduced-order observer repetitive control stability analysis state estimation |
| url | https://eprints.nottingham.ac.uk/35829/ https://eprints.nottingham.ac.uk/35829/ |