• 제어로봇시스템학회논문지
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• 제16권7호
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• pp.668-673
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• 2010

Given a periodic reference signal or disturbance, repetitive control is a special control scheme to reduce a tracking error effectively by the periodic signal generator in the repetitive controller. In general, a repetitive controller is added on the existing feedback control system to improve the tracking performance. However, because the information used in the design of the feedback controller is not taken into account, the design problem of the repetitive controller is totally another problem irrespective of that of the feedback controller. In this paper, we present a more general method to design an add-on type repetitive controller using the information on the performance of the existing feedback control system. We first show that a robust stability condition of repetitive control systems is obtained using the well-known robust performance condition of general feedback control systems. It is also shown that we can obtain a steady-state tracking error described in a simple form without time-delay element if the robust stability condition is satisfied for the repetitive control system. From the obtained results, several design criterions for repetitive controller are provided. Through the simulation study, the feasibility of the proposed method is verified.

• 한국소음진동공학회논문집
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• 제14권2호
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• pp.136-143
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• 2004

This paper presents three algorithms of repetitive controller for compensation of the repeatable runout in hard disk drive. The basic theory of the repetitive controller and the analysis of the disturbance in hard disk drive are introduced. The tracking controller is designed in order to design the "plug-in type" repetitive controller. Design of the repetitive controller is considered as the design of the filter, determination of gain and design of additional compensation for the various types. Specially, trade-off relationship between stability and performance is important for the design. The three kinds of "plug-in type" repetitive controllers are designed, simulated and experimented. Performance and characteristic of them are compared with the analysis of the experimental results.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 추계학술대회논문집
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• pp.1083-1088
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• 2003

This paper presents three algorithms of repetitive controller for compensation of the repeatable uncut in hard disk drive. The basic theory of the repetitive controller and the analysis of the disturbance in hard disk drive are introduced. The tracking controller is designed in order to design the "plug-in type" repetitive controller. Design of the repetitive controller is considered as the design of the filter, determination of Gain and design of additional compensation for the various types. Specially, trade-off relationship between stability and performance is important factor for the design. The thee kinds of "plug-in type" repetitive controllers are designed simulated and experimented. Performance and characteristic of them are compared by the analysis of the experimental results

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1051-1059
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• 1992

Two types of digital repetitive control systems are analyzed and designed to reduce the error spectrum including not only harmonic but also non-harmonic components. First, a novel gain scheduling algorithm is suggested for conventional and modified repetitive controller is scheduled to reduce the infinite norm of error in frequency domain. For this, the relative error transfer function is mewly defined as the ratio of the error spectrum for the system with a repetitive controller to the error spectrum for the system with a repetitive controller to the error spectrum for the system without a repetitive controller. Secondly, as an alternative of a repetitive control system with the gain scheduling, a repetitive control system with higher order repetitve function is analyzed and designed, where instead of equal weightings, weightings of the higher order repetitive function is determined in such a way that the infinite norm of relative error transfer function is minimized. To show the validities of proposed methods, computer simulation results are illustrated for a typical disk drive head positioning servo system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.779-782
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• 1996

Repetitive control is a proposed control strategy in view of the internal model principle and achieves a high accuracy asymptotic tracking property by implementing a model that generates the periodic signals of period into the closed-loop system. Since the repetitive control system contains a periodic signal generator with positive feedback loop, which reduces the stability margin, in the overall closed-loop system, the stability of the closed-loop system should be considered as an important problem. In case that a real system has plant uncertainties which are not represented through modeling, the robust stability problem of the repetitive control system has not been considered sufficiently. In this paper, we propose the robust stability condition for the system with modeling uncertainty. The proposed robust stability condition will be obtained using the robust performance condition in the H$_{\infty}$ control. Moreover, by use of the proposed robust stability condition, we propose a procedure that designs a repetitive controller and a feedback controller simultaneously which can stabilize the overall closed-loop system robustly and which can also do the closedloop system without repetitive controller..

• Journal of Power Electronics
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• 제15권3호
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• pp.819-829
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• 2015

This paper presents a shunt active power filter (SAPF) for compensating inter-harmonics and harmonics when inter-harmonics content is evident in the grid. The principle of inter-harmonics generation in the grid was analyzed, and the inter-harmonics effect on repetitive controllers was discussed in terms of control performance. Traditional repetitive controllers are not applicable in inter-harmonic compensation. Moreover, the effect of an ideal controller on harmonics signals was analyzed on the basis of the internal model principle. The repetitive controller was improved in the form of a basis function according to theoretical analysis. The finite-dimensional repetitive controller, which is also called the multiple-period repetitive controller, was designed for the control of multiple periodic signals. A selective harmonic compensation system was developed with SAPF. This system can be used to compensate harmonics and inter-harmonics in the grid. Finally, system control performance was verified by simulation and experimental results.

• 한국산업정보학회논문지
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• 제13권2호
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• pp.1-7
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• 2008

본 논문은 시스템 인자의 변위에 강인한 연속반복학습제어기(Repetitive Controller RC)를 설계하는 방법을 소개하고자 한다. 이 때 사용되는 불확실 인자들은 확률분포함수에 의해 무작위로 설정되게 된다. 분포함수를 직접 적용하는 대신 본 제어기는 설정된 확률함수로부터 생성된 모형을 기본으로 설계하였다. 이러한 복수모형 설계 기법으로 임의의 분포함수로 구성된 수많은 불확실 인자들을 다룰 수 있다. 그러므로, 제어기는 반복영역에서 수렴성을 보장하는 비용함수를 주파수영역에서 최소화함으로써 유도할 수 있다. 모의실험은 제안된 복수모형설계 기법으로 구한 RC가 단수모형 설계기법을 이용한 RC보다 강인한 것을 보여 주고 있다.

• 전기학회논문지
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• 제67권11호
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• pp.1434-1446
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• 2018

This paper presents new speed control strategy for periodic load torque injected in AC motor. If motor drive system has a periodic load torque, it causes a periodic motor speed ripple bringing about vibrations and noises. This paper proposed new control method consisting of PIR(proportional-integral-resonant) controller and repetitive controller. PIR controller controls DC, low frequency and fundamental components and repetitive controller controls other harmonics. The performance has been verified through computer simulations using MATLAB Simulink and experiments.

• 제어로봇시스템학회논문지
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• 제5권1호
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• pp.39-46
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• 1999

Disturbances acting on the track-following servo system of an optical disk drive inherently contain significant periodic components that cause tracking errors of a periodic nature. Such disturbances can be effectively rejected by employing a repetitive controller, which must be implemented carefully in consideration of system stability. Plant uncertainty makes it difficult to design a repetitive controller that will improve tracking performance yet preserve system stability. In this paper, we examine the problem of designing a repetitive controller for an optical disk drive track-following servo system with uncertain plant coefficients. We propose a graphical design technique based on the frequency domain analysis of linear interval systems. This design method results in a repetitive controller that will maintain system stability against all admissible plant uncertainties. We show simulation and experimental results to verify the validity of the proposed design method.

• 한국산업정보학회논문지
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• 제12권4호
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• pp.126-130
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• 2007

연속 반복되는 시스템에서 제어하는 제어기 repetitive controller를 설계하는 방법과 시스템 안정성을 소개하고자 한다. 제어기는 반복함수로서 수렴을 조장하는 비용함수를 주파수영역에서 최소화함으로써 유도할 수 있다. 모의실험은 제안된 단수모형설계 기법을 이용한 RC를 어떻게 유도하는 것을 보여 주고 있다.