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A robust design method of the discrete-time plug-in repetitive control system is proposed. By modifying the stabilizing compensator, the robustness of the repetitive control system can be well ensured together with the zero-following error performance. The design method is simple and straightforward. Meanwhile, a novel robustness criterion for the discrete-time repetitive control system is introduced,...
This paper has proposed a novel (Integral-Proportional) I-P controller in speed control of a permanent magnet synchronous machine (PMSM) drive system, it removes the side effects such as slow dynamic response of the conventional I-P controller and maintains the advantages in the meantime. Theoretical studies for the conventional P-I, I-P and the proposed controllers in the s-domain and z-domain are...
Repetitive control is a method to track the periodical signal. This paper proposes a design method of the plug-in repetitive controller based on the architecture in [27]. In such a way, zero following error can be achieved based on the internal model principle. To avoid realizing the inverse dynamics of the plant, a novel controller structure is proposed as the stabilizing filter. It is easy to design...
Phase lags limit loop gains and ultimately reduce the responsiveness of the high speed motion control system. We propose a predictive position and velocity observer. The predictive observer can provide a significant phase lead therefore the controller can be designed as if the control system does not have these phase lag elements. The implementation and tuning steps of the observer is also introduced...
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