Prototype angle domain repetitive control: Design and robustness

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Angle-domain repetitive disturbances refer to disturbances that are periodic in a generic angle variable which is monotonically increasing with time but not uniformly. This paper extends the classical prototype repetitive control methodology for time periodic disturbances to this situation. Instead of using an internal model approach to derive the control, an affine parameterization approach is adopted which reduces the control design methodology to one of estimating and canceling the disturbance. While the resulting control architectures are similar to the classical time-domain periodic case, the stability conditions are different and depend on the choice of signal norms. Compensator design for non-minimum phase plants also need to be modified. Robustness is also considered in the L2 setting and an affine Qfilter concept is introduced to achieve robust stability.

Original languageEnglish (US)
Title of host publicationDiagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791857250
StatePublished - 2015
EventASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States
Duration: Oct 28 2015Oct 30 2015

Publication series

NameASME 2015 Dynamic Systems and Control Conference, DSCC 2015


OtherASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Country/TerritoryUnited States

Bibliographical note

Publisher Copyright:
© 2015 by ASME.


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