DISCRETE-TIME ADAPTIVE REPETITIVE CONTROL - Internal Model Approach

Andrzej Krolikowski, Dariusz Horla

Abstract

Repetitive control is known as one of the most effective methods to reduce repetitive errors with a known period in various practical control systems performing repetitive tasks. The application of Internal Model Control (IMC) structure for repetitive control is introduced. Two IMC-based repetitive control configurations are proposed together with their adaptive versions. A comparative simulation study is carried out for the model of a first link of the robot.

References

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Paper Citation


in Harvard Style

Krolikowski A. and Horla D. (2008). DISCRETE-TIME ADAPTIVE REPETITIVE CONTROL - Internal Model Approach . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8111-32-6, pages 90-95. DOI: 10.5220/0001479700900095


in Bibtex Style

@conference{icinco08,
author={Andrzej Krolikowski and Dariusz Horla},
title={DISCRETE-TIME ADAPTIVE REPETITIVE CONTROL - Internal Model Approach},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2008},
pages={90-95},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001479700900095},
isbn={978-989-8111-32-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - DISCRETE-TIME ADAPTIVE REPETITIVE CONTROL - Internal Model Approach
SN - 978-989-8111-32-6
AU - Krolikowski A.
AU - Horla D.
PY - 2008
SP - 90
EP - 95
DO - 10.5220/0001479700900095