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A Study on a Novel Robust Repetitive Control Method

Research Project

Project/Area Number 14550452
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionTAKUSHOKU UNIVERSITY

Principal Investigator

NAKANO Michio  Takushoku University, Dept. of Mechanical System Eng., Professor, 工学部, 教授 (80016451)

Co-Investigator(Kenkyū-buntansha) SHE Jin-hua  Tokyo University of Technology, Dept, of Bionics, Associate Professor, 工学部, 助教授 (10257264)
Project Period (FY) 2002 – 2003
Project Status Completed (Fiscal Year 2003)
Budget Amount *help
¥3,300,000 (Direct Cost: ¥3,300,000)
Fiscal Year 2003: ¥1,200,000 (Direct Cost: ¥1,200,000)
Fiscal Year 2002: ¥2,100,000 (Direct Cost: ¥2,100,000)
KeywordsRepetitive Control / Periodic Input / Elimination of Periodic Disturbance / Learning Control / Repetitive Controller / Positive Feedback / Infinity Gain / Stability Circle / ポジティブフィーバック / 無限大ゲイン
Research Abstract

It is confirmed that the repetitive control proposed by author is extremely effective for trajectory control to the periodic input. It remains, however, an unsettled question how guarantee the stability of the control method, because that controller has a dea* element Accordingly, we have discussed the unsettled question in detail to overcome it question, and successfully found its solut developing novel repetitive control method which is able to change the stability domain in a complex plane without any additional outside the controller.
For the usual repetitive control method, it has been forced that a vector locus of a controlled system must be kept within a stability domain of the controller which is a circle with a radius of 1 so that the repetitive control system is stable. That is an unsettled problem for the control method. The novel repetitive controller was developed that had forward transfer function e^<-jwL>/K instead of e^<-jwL> which was used for a usual repetitive controller and positive feedback with gain K. Since the frequency transfer function of the new controller becomes 1/K ・e^<-jwL>/(1-e^<-jwL>), the control system is not only extremely effective because of the infinity gain against periodic input or disturbance as usual, but also the system is always able to be kept stable because the stability domain of the control method is the domain within a circle with radius of K, center of (K, O) on complex plane. Therefore, the stability domain is changeable and, in an extreme case, the whole right area in a complex plane was able to be stable domain. Furthermore, whole complex domain can be able to be stable domain by rearrangement the elements in the proposed repetitive controller. The proposed repetitive control method was confirmed by simulations of several examples.
This research was partially supported by the Ministry of Education, Science, Sports and Culture, Grant-in-Aid for Scientific Research (C), 14550452, 2002.4-2004.3.

Report

(3 results)
  • 2003 Annual Research Report   Final Research Report Summary
  • 2002 Annual Research Report
  • Research Products

    (12 results)

All Other

All Publications (12 results)

  • [Publications] Takashi KOGA, Michio NAKANO: "Improvement of Control Performance using Hysteresis Element"'03 KOREA-JAPAN JOINT SYMPOSIUM ON ADVANCED INDUSTRY APPLICATIONS MASAN, KOREA. 64-69 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Jin-Hua She, Michio NAKANO: "A New Approach to the Estimation and Rejection of Disturbances in Servo System"IEEE-AC. (掲載決定済み 号巻未定).

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Min Wu, Jin-Hua She, Michio Nakano: "Expert control system using neural networks for electrolytic process in zinc hydromatallurgy"Engineering Applications of Artificial Inteligence. Vol.14. 589-598 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Min Wu, Jin-Hua She, Michio Nakano: "Expert control and fault diagnosis of the leaching process in a zinc hydrometallurgy plant"Control Engineering Practice. Vol.10. 433-442 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Mm Wu, Jm-Hua She, Michio Nakano: "Expert control system using neural networks for electrolytic process in zinc hydrometallurgy"Engineering Applications of Artificial Intelligence. Vol.14. 589-598 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Mm Wu, Jin-Hua She, Michio Nakano: "Expert control and fault diagnosis of the leaching process in a zinc hydrometallurgy plant"Control Engineering Practice. Vol.10. 433-442 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Jin-Hua She, Michio NAKANO: "A New Approach to the Estimation and Rejection of Disturbances in Servo System"IEEE-AC. (now ready for publication).

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Takashi KOGA, Michio NAKANO: "Improvement of Control Performance using Hysteresis Element"'03 KOREA-JAPAN JOINT SYMPOSIUM ON ADVANCED INDUSTRY APPLICATIONS, MASAN, KOREA. 64-69 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Takashi KOGA, Michio NAKANO: "Improvment of Control Performance using Hysteresis Element"'03 KOREA-JAPAN JOINT SYMPOSIUM ON ADVANCED INDUSTRY APPLICATIONS. MASAN, KOREA. 64-69 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Jin-Hua She, Michio NAKANO: "A New Approach to the Estimation and Rejection of Disturbances in Servo Systems"IEEE-AC. (掲載決定済み 号巻未定).

    • Related Report
      2003 Annual Research Report
  • [Publications] Min Wu, Jin-Hua She, Michio Nakano: "Expert control system using neural networks for electrolytic process in zinc hydromatallurgy"Engineering Applications of Artificial Inteligence. Vol.14. 589-598 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Min Wu, Jin-Hua She, Michio Nakano: "Expert control and fault diagnosis of the leaching process in a zinc hydromatallurgy plant"Control Engineering Practice. Vol.10. 433-442 (2002)

    • Related Report
      2002 Annual Research Report

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Published: 2002-04-01   Modified: 2016-04-21  

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