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This paper proposes a discrete- time terminal sliding mode repetitive controller (TSMRC) for improved robust tracking performance and fast transient response. The proposed control structure integrates the desirable features of repetitive control (RC) and terminal sliding mode control (TSMC) to accomplish a fast convergence rate, improved robustness against bounded matched uncertainties, and improved...
This paper presents an improved phase lead repetitive compensator (RC) for a linear actuator (LA) system. The linear phase lead compensation provided by the proposed compensator structure compensates the phase lag of the feedback system caused by payload variations and nonlinear friction present in the LA system. Unlike conventional phase lead RC structures which use a pure linear phase advance compensator...
This paper presents the design of a robust discrete-time sliding mode repetitive controller (DSMRC) which combines the features of repetitive control (RC) and sliding mode control (SMC) to achieve fast transient response, improved robustness to various matched uncertainties, and improved steady state performance. The new control structure consists of a repetitive control component and a sliding mode...
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