Parameter Space Design of Repetitive Controllers for Satisfying a Robust Performance Requirement

TL;DR

This paper introduces a parameter space method for designing low order repetitive controllers that meet robust performance criteria, applicable to plants with delays, marginal poles, and discontinuous weights, demonstrated through a high-speed atomic force microscope control example.

Contribution

It presents a novel parameter space approach for designing robust repetitive controllers for complex plants, including those with delays and discontinuities.

Findings

Effective design of low order controllers satisfying robust performance.

Method successfully applied to atomic force microscope position control.

Controllers accommodate plants with delays and imaginary axis poles.

Abstract

A parameter space procedure for designing chosen parameters of a repetitive controller to satisfy a robust performance criterion is presented. Using this method, low order robust repetitive controllers can be designed and implemented for plants that possibly include time delay, poles on the imaginary axis and discontinuous weights. A design and simulation study based on a high speed atomic force microscope position control example is utilized to illustrate the method presented in this paper.