Repetitive control of servo systems with time delays

摘要: In many industrial robotic servo applications there is a need to track periodic reference signals and/or reject disturbances. Moreover, time-delays are usually unavoidable in control systems due the sensoring and communication delays. This paper presents an alternative repetitive design for with constant both forward feedback channels, which dedicated track/reject signals. An additional delay introduced together plant delays construct internal model signals, simple compensator based on inverse utilized stabilize closed-loop system. Sufficient stability conditions of system robustness analysis against modeling uncertainties studied. The proposed idea further extended general time-delay only term channel. ''plug-in'' structure used conventional designs avoided, so that it leads simpler configuration, i.e. proportional parameter cutoff frequency low-pass filter required be selected. Simulations hard disk drive practical experiments rotary provided evaluate effectiveness method.