| Summary: | This paper addresses the design and implementation issues of predictive-repetitive control systems with constraints. Based on the recent results by the authors, which use a frequency response decomposition technique to detect the dominant frequency components in the reference signals and embeds these components in the predictive-repetitive controller, the paper will further analyze the design technique via the frequency response of the closed-loop system. The structure determination of a repetitive controller is proposed in balance between the reduction of tracking errors, minimization of effects of disturbance, attenuation of measurement noise and model uncertainty. As the framework is based on predictive control, implementation of operational constraints, including constraints on control signal amplitude and increment and on the plant outputs, is discussed, where an on-line solution is proposed using a quadratic programming via identification of active constraints. Experimental results on a 2-D robotic system are used to demonstrate the design and implementation procedures discussed in the paper.
|
|---|
