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This paper introduces a new method for synthesizing multiple-period repetitive controllers, which are suitable for integration into a combined adaptive-repetitive control scheme. The proposed synthesis method can be implemented recursively reducing the complexity of controller design considerably when compared with other methods available in the literature. In order to exemplify the synthesis procedure,...
The paper addresses adaptive identification of plant and disturbance models, as well as design of controllers that stabilize the plant and reject deterministic disturbances. An important feature of the controller design is that the part of the controller that rejects the disturbance can be redesigned efficiently, without changing the part of the controller that stabilizes the plant. A new method for...
A new multichannel lattice filter is used to identify a multichannel ARMA model for a large flexible truss from experimental data. The numerical results demonstrate the fast convergence of the adaptive lattice filter, and illustrate the importance of using multiple measurement channels simultaneously in identifying flexible structures with repeated or nearly repeated frequencies.
A discrete-time adaptive controller is introduced for robotic manipulators with flexible joints. Simulation results are given for a one-link example and a two-link example.
This paper presents an example in which a flexible mechanical system is controlled by a variable-order adaptive controller. This controller works much better than fixed-order adaptive controllers that have been applied to the system. In the variable-order algorithm the effective plant order is determined adaptively with a lattice filter, which is recursive in order as well as in time.
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