Title: Multiloop repetitive controller: robust tracking in presence of model and periodic uncertainties

Authors: Naiwrita Dey; Ujjwal Mondal

Addresses: Department of ECE, RCCIIT, Kolkata, India ' Department of Applied Physics, Calcutta University, Kolkata, India

Abstract: In this paper, robust tracking of periodic command is addressed for a multiloop repetitive control system. The servomechanism property of proposed multillop controller is explored. The presented work envisaged to explore the possibility of developing finite dimensional robust repetitive controller (FDRRC) for a class of LTI system. To match the practical system uncertain model of plant is considered and subsequently robust controller design approach is justified. A modified multiloop design approach of finite dimensional robust repetitive controller is proposed and applied to take up with the different uncertainties and high frequency limitation of conventional RC. The robust design procedure of FDRRC involves augmentation of low pass filter in the proposed RRC loop. The stability of the proposed controller design is proven under periodic and model uncertainties using Nyquist stability criterion. Multiplicative and parametric uncertainty is considered here. Bounded tracking error is calculated for different case study. The feasibility and effectiveness of FDRRC is verified with an example via simulation. Productiveness of the proposed controller is obtained by a comparative analysis among RC, RRC and FDRRC over the specified range of uncertainty.

Keywords: robust repetitive controller; sinusoidal response; multiplicative; robust stability; periodic uncertainty; time delay.

DOI: 10.1504/IJSCC.2023.133932

International Journal of Systems, Control and Communications, 2023 Vol.14 No.4, pp.327 - 340

Received: 29 Jan 2022
Accepted: 08 Feb 2023
Published online: 05 Oct 2023 *

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