Observer-based Predictive Repetitive Control with Experimental Validations
نویسندگان
چکیده
This paper develops a new design method for predictive repetitive control systems to track periodic reference signals or reject disturbances with bandlimited frequency content. In the presence of input disturbances acting on the system, the new design estimates these disturbances using an observer. This approach is complementary to the predictive repetitive control system designs previously reported where the periodic disturbance model was embedded in the controller. Supporting experimental results from application of the new design to a two joint robotic arm are given.
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