Parameter Space Design of Repetitive Controllers for Satisfying a Robust Performance Requirement

Parameter Space Design of Robust Control Systems

Find a state or output feedbac:k wlth flxed gains such that nlce stabllity (deflned by a regloo in tbe elgenvalue plane) ls robust wlth respect to !arge plant parameter varladoos, semor failures, and quantlzatJon effects in tbe controller. Keep tbe requlred magnltude of control Inputs smail in thls deslgn. A tool for tacldJ.ng suc:h problems by des1gB in tbe controller parameter space % ls intr...

Design of Robust Finite-Time Nonlinear Controllers for a 6-DOF Autonomous Underwater Vehicle for Path Tracking Objective

In this paper, kinematic and dynamic equations of a 6-DOF (Degrees Of Freedom) autonomous underwater vehicle (6-DOF AUV) are introduced and described completely. By developing the nonsingular terminal sliding mode control method, three separate groups of control inputs are proposed for the autonomous underwater vehicle subjected to uncertainties including parametric uncertainties, unmodeled dyn...

investigating the feasibility of a proposed model for geometric design of deployable arch structures

deployable scissor type structures are composed of the so-called scissor-like elements (sles), which are connected to each other at an intermediate point through a pivotal connection and allow them to be folded into a compact bundle for storage or transport. several sles are connected to each other in order to form units with regular polygonal plan views. the sides and radii of the polygons are...

A Design Method for Robust Stabilizing Simple Repetitive Controllers for Time-delay Plants

A simple repetitive controller was proposed by Yamada et al. It works as a modified repetitive controller. The transfer functions from the periodic reference input to the output, and from the disturbance to the output have a finite number of poles, and the input–output characteristics and the disturbance attenuation characteristics can be specified easily. However, this method cannot be applied...

Robust iterative learning control design is straightforward for uncertain LTI systems satisfying the robust performance condition