Intermittent Sampling in Repetitive Control: Exploiting Time-Varying Measurements

TL;DR

This paper develops a new intermittent sampling repetitive control framework that handles non-equidistant measurements, improving performance in systems with data loss or timestamped measurements, validated on an industrial printbelt system.

Contribution

It introduces a frequency domain design method for intermittent sampling RC that accounts for measurement uncertainty and non-uniform sampling intervals.

Findings

Stability conditions verified using frequency response data

Framework successfully applied to industrial printbelt system

Enhanced control performance with non-equidistant data handling

Abstract

The performance increase up to the sensor resolution in repetitive control (RC) invalidates the standard assumption in RC that data is available at equidistant time instances, e.g., in systems with package loss or when exploiting timestamped data from optical encoders. The aim of this paper is to develop an intermittent sampling RC framework for non-equidistant measurements. Sufficient stability conditions are derived that can be verified using non-parametric frequency response function data. This results in a frequency domain design procedure to explicitly address uncertainty. The RC framework is validated on an industrial printbelt setup for which exact non-equidistant measurement data is available.