Positioning stages using piezoelectric stack actuators (PEA) possess very high theoretical bandwidth and resolution. However, their tracking performance deteriorates as nonlinear dynamics due to inherent hysteresis starts to dominate when the total length of travel increases. When tracking periodic trajectories, which is common in most industrial applications, the uncertain nonlinearity from hy...

Repetitive processes are a distinct class of two-dimensional systems (i.e. information propagation in two independent directions) of both systems theoretic and applications interest. They cannot be controlled by direct extension of existing techniques from either standard (termed 1D here) or two-dimensional (2D) systems theory. Here we give new results on the design of physically based control ...

A two-tier optimizing control strategy of a simulated moving bed (SMB) process has been studied on the basis of repetitive control. Repetitive model predictive control (RMPC) of product purities is carried out in the lower tier and the optimum feed and desorbent flow rates and the length of switching period are determined in the upper tier. Both of them are based on a fundamental SMB model whic...

In most cases authors are permitted to post their version of the article (e.g. in Word or Tex form) to their personal website or institutional repository. Authors requiring further information regarding Elsevier's archiving and manuscript policies are encouraged to visit: a b s t r a c t This paper gives new results on optimal control of the so-called wave discrete linear repetitive processes w...

This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...