Periodic Disturbance Rejection Using Two Dof Repetitive Control for a Motor Gear Transmission System
نویسندگان
چکیده
In this paper, we design and analyse a two degree-of-freedom (TDOF) repetitive control system for a motor/gear transmission system with actuator saturation. Modifications are made for our previous design to incorporate the performance-limiting element, i.e. actuator saturation, to acquire lower order controller, and to achieve faster computation. Furthermore, structured singular value (μ) is used to evaluate and compare the nominal/robust performance and robust stability of our designs. The simulation results are presented to show the feasibility and effectiveness of the new design for periodic and non-periodic disturbance reduction for motor/gear transmission velocity regulation. Copyright © 2002 IFAC
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