Switched linear model predictive controllers for periodic exogenous signals

Freeman

International Journal of Control

2020

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This paper develops an observer-based predictive repetitive control system to track periodic reference signals or reject disturbances with band limited frequency content. The new design complements exist-ing approaches to predictive control, where a model of the periodic disturbance is embedded in the controller. In particular, the new design, based on a novel combination of repetitive control and a disturbance observer, results in a significant improvement in design transparency and implementation simplicity. Although the design is undertaken using a state-space-model, frequency response analysis based on the sensitivity and complementary functions is used to demonstrate the characteristics of the repetitive control system for disturbance rejection, reference following and measurement noise attenuation. Moreover, operational constraints can be included in the design for applications where this feature is required. Simulation studies are given to highlight the closed-loop performance achievable in the presence of constraints.Experimental validation results from application to a two-joint robotic arm are also given and discussed.

Section: Introductionmentioning

confidence: 99%

Disturbance observer-based predictive repetitive control with constraints

Freeman

International Journal of Control

2020

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“…In particular, the key steps in the application of the repetitive-predictive control algorithm are described, with a fully detailed treatment in [19]. For notational simplicity, attention is restricted to the single-input single-output (SISO) case.…”

Section: The Repetitive-predictive Control Algorithmmentioning

confidence: 99%

“…The new contribution in this paper is a repetitive control algorithm using the predictive control setting developed in [19], and applied in [17], to plants with non-minimum phase zeros. With this new framework, the performance limitation problem caused by the unstable zeros is examined and solved by a simple modification of the cost function.…”

mentioning

confidence: 99%

Experimentally validated continuous-time repetitive control of non-minimum phase plants with a prescribed degree of stability

Freeman

Control Engineering Practice

et al. 2010

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This paper considers the application of continuous-time repetitive control to nonminimum phase plants in a continuous-time model predictive control setting. In particular, it is shown how some critical performance problems associated with repetitive control of such plants can be avoided by use of predictive control with a prescribed degree of stability. The results developed are first illustrated by simulation studies and then through experimental tests on a non-minimum phase electromechanical system.

“…Previous work [7], [8] has taken this approach, where the frequency components of a given reference signal are analyzed and its reconstruction performed using a frequency sampling filter model, from which the significant frequencies are identified and error analysis is used to justify the selections.…”

Section: Introductionmentioning

confidence: 99%

Multivariable Repetitive-Predictive Controllers Using Frequency Decomposition

Chai

IEEE Trans. Contr. Syst. Technol.

et al. 2012

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Abstract-Repetitive control is a methodology for the tracking of a periodic reference signal. This paper develops a new approach to repetitive control systems design using receding horizon control with frequency decomposition of the reference signal. Moreover, design and implementation issues for this form of repetitive predictive control are investigated from the perspectives of controller complexity and the effects of measurement noise. The analysis is supported by a simulation study on a multi-input multi-output robot arm where the model has been constructed from measured frequency response data, and experimental results from application to an industrial AC motor.