Name
Title | ||
|---|---|---|
Discrete-time repetitive control with model-less FIR filter inversion for high performance nanopositioning |
Abstract | ||
|---|---|---|
Repetitive control (RC) is used to track and reject periodic exogenous signals. RC achieves tracking by incorporating a model of a periodic signal in the feedback path, which provides infinite loop-gain at the harmonic frequencies of the periodic signal. To improve robustness, the periodic signal model is bandwidth limited, and to improve the performance, an inverse plant response filter is used. This filter can either be an infinite impulse response (IIR) filter or a finite impulse response (FIR) filter. The accuracy of the filter typically determines the allowable bandwidth of the periodic signal model, and it is therefore desirable to obtain the most accurate inverse possible. In this paper a model-less method for synthesizing an FIR filter for the inverse response is presented, and it is compared to the common approach of using an inverse model-based IIR filter. An experimental comparison of the two approaches is presented, and it is demonstrated that the two methods produce identical results, but where the model-less FIR filter approach has the added benefit of avoiding the modeling effort needed to obtain the IIR filter. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/AIM.2014.6878323 | AIM |
Keywords | Field | DocType |
fir filters,iir filters,control system synthesis,discrete time systems,feedback,nanopositioning,discrete-time repetitive control,feedback path,finite impulse response filter,harmonic frequencies,high performance nanopositioning,infinite impulse response filter,infinite loop-gain,inverse model-based iir filter,inverse plant response filter,model-less fir filter inversion approach,periodic exogenous signal rejection,periodic exogenous signal tracking,frequency response,accuracy,stability analysis,computational modeling | Raised-cosine filter,Root-raised-cosine filter,Digital filter,Control theory,Computer science,Infinite impulse response,Control engineering,Low-pass filter,Adaptive filter,Recursive filter,Filter design | Conference |
ISSN | Citations | PageRank |
2159-6255 | 2 | 0.43 |
References | Authors | |
4 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yik Ren Teo | 1 | 4 | 1.51 |
| Eielsen, A.A. | 2 | 3 | 2.16 |
| Jan Tommy Gravdahl | 3 | 121 | 20.61 |
| Andrew J. Fleming | 4 | 96 | 16.04 |