A new and simple robust repetitive controller design procedure in controller parameter space is presented here. The structure of the repetitive controller filters are fixed, thus, simplifying the design procedure to tuning of the fixed structure filters’ parameters. This approach results in simple and physically meaningful robust controllers that are easily implementable. The design method is based on mapping frequency domain performance specifications into a chosen controller parameter plane. Weighted sensitivity (nominal performance) and weighted complementary sensitivity (robust stability) function magnitude bounds are chosen as the frequency domain specifications to be mapped into controller parameter space here. The design method is illustrated numerically in the context of a servohydraulic material testing machine application available in the literature.
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June 2006
Technical Briefs
Robust Repetitive Controller Design in Parameter Space
Bilin Aksun Güvenç,
Bilin Aksun Güvenç
Assistant Professor
Department of Mechanical Engineering,
Istanbul Technical University
, Istanbul, TR-34437 Turkey
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Levent Güvenç
Levent Güvenç
Professor
Department of Mechanical Engineering,
Istanbul Technical University
, Istanbul, TR-34437 Turkey
Search for other works by this author on:
Bilin Aksun Güvenç
Assistant Professor
Department of Mechanical Engineering,
Istanbul Technical University
, Istanbul, TR-34437 Turkey
Levent Güvenç
Professor
Department of Mechanical Engineering,
Istanbul Technical University
, Istanbul, TR-34437 TurkeyJ. Dyn. Sys., Meas., Control. Jun 2006, 128(2): 406-413 (8 pages)
Published Online: March 5, 2005
Article history
Received:
November 27, 2003
Revised:
March 5, 2005
Citation
Güvenç, B. A., and Güvenç, L. (March 5, 2005). "Robust Repetitive Controller Design in Parameter Space." ASME. J. Dyn. Sys., Meas., Control. June 2006; 128(2): 406–413. https://doi.org/10.1115/1.2196417
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