2834
6, JUNE 2014
Design of Robust Repetitive Control With
Time-Varying Sampling Periods
Edi Kurniawan, Member, IEEE, Zhenwei Cao, and Zhihong Man, Member, IEEE
Abstract—This paper proposes the design of robust repetitive
control with time-varying sampling periods. First, it develops
a new frequency domain method to design a low-order, stable,
robust, and causal IIR repetitive compensator using an opti-
mization method to achieve fast convergence and high tracking
accuracy. As such, a new stable and causal repetitive controller can
be implemented independently to reduce the design complexity.
The comprehensive analysis and comparison study are presented.
Then, this paper extends the method to design a robust repetitive
controller, which compensates time-varying periodic signals in a
known range. A complete series of experiments is successfully
carried out to demonstrate the effectiveness of the proposed
algorithms.
Index Terms—IIR filter, repetitive control (RC), robust
compensator.
I. I NTRODUCTION
R EPETITIVE control (RC) has been successfully used
for many applications, such as hard disks, robot control,
attitude stabilization of satellites, etc. [1], [2]. Recently, RC
has been applied for the reduction of total harmonics distortion
in grid-connected inverters [3], [4], compensation of current
harmonics in shunt active power filters [5], and electrolytic
capacitorless power converters [6]. A well-known use of RC
is to both track a periodic reference signal and reject periodic
disturbance, as tracking and rejecting periodic signals are com-
mon tasks in many control applications. RC is related to the
learning control [7], [8] and originated from the idea of the
Internal Model Principle (IMP) of Wonham and Francis [9].
The IMP is attached inside the feedback loop and behaves as the
generator of a periodic signal in order to achieve zero tracking
error. Many researchers have worked on RC, and some issues
have already been investigated. Inoue et al. [10] originally
formulated a repetitive model that deals with disturbances with
a known period. This was followed by some successful work by
Chew and Tomizuka [11] in which RC is applied in computer
disk drives. In [12], an adaptive RC design to handle time-
varying periodic disturbances was proposed. An RC design
to compensate time-varying periodic signals in grid-connected
inverters has been investigated by [4]. The RC design to reject
disturbances with multiple periods has been done by [13]. RC
Manuscript received May 10, 2012; revised August 1, 2012 and March 8,
2013; accepted May 31, 2013. Date of publication August 1, 2013; date of
current version December 20, 2013.
The authors are with the Faculty of Engineering and Industrial Sciences,
Swinburne University of Technology, Hawthorn, Vic 3122, Australia (e-mail:
ekurniawan@swin.edu.au; zcao@swin.edu.au; zman@swin.edu.au).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TIE.2013.2276033
0278-0046 © 2013 IEEE
Authorized licensed use limited to: Columbia University Libraries. Downloaded on May 28,2020 at 11:28:03 UTC from IEEE Xplore. Restrictions apply.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 61, NO.
basically consists of two main parts: the IMP to generate a
periodic signal and a compensator to stabilize the closed-loop
system.
A number of important works related to the design of the
compensator have been discussed in [14]–[23]. The compen-
sator is often designed as the inverse of the plant model in order
to cancel the whole system dynamics [14]–[16]. The inverse
of the plant is sometimes not available due to uncertainties
and disturbances [20]. Moreover, the inverses of discrete-time
plant models are almost unstable as the zeros of discrete-time
plant models are very close to the unit circle [24]. This makes
the design of the compensator sometimes not feasible [19].
A design of the compensator based on pole placement was
developed in [17] and [18]. The compensator parameters are
obtained by solving the Diophantine equation, where the order
of the compensator is similar to the order of the IMP. An
unstable IIR filter composed of stable and unstable poles was
found to model the inverse of the plant [17]. This filter requires
special implementation, where the unstable part operates in
reverse time. In [19], the design of the compensator became
a problem of minimization in the frequency domain, where
the compensator is in the form of a noncausal FIR filter. The
design requires a high-order FIR filter to stabilize the system,
which means that a large number of parameters are needed to be
optimized [19]. A compensator in the form of phase lead kr z m ,
where kr is the gain and m is an integer value, was proposed
in [20] and [21]. The approaches [20], [21] use a noncausal
operator z m which gives inflexible phase compensation.
Furthermore, in most designs of discrete repetitive con-
trollers, it is assumed that the frequency of the compensated
signal is a constant and the sampling rate is fixed to give an
integer number of samples per period. However, in practice,
the reference or disturbance may have a time-varying period. If
the sampling period remains fixed, the number of samples per
period will change. This may decay the tracking performance
[25]. To overcome this problem, a digital phase-locked-loop-
based RC was proposed [26], in which the sampling period
was locked to the period of the reference/disturbance signal to
maintain a constant number of samples per period. However,
the discrete plant model changes as the sampling period varies.
The repetitive controller has to be changed accordingly to
achieve a stable system.
This paper first develops a design methodology to obtain
a stable, robust, and causal IIR compensator, which achieves
fast convergence and high tracking accuracy. A new stable and
causal repetitive controller is implemented independently to
reduce the design complexity, as most of existing repetitive
compensators are either unstable or noncausal, which makes
KURNIAWAN et al.: DESIGN OF ROBUST REPETITIVE CONTROL WITH TIME-VARYING SAMPLING PERIODS 2835

The characteristic equation of the system shown in Fig. 1 can

be derived as
 
Q(z)z −N
1 + C(z) + Fn (z) G(z) = 0
1 − Q(z)z −N
(4)
 
[1 + C(z)G(z)] 1 − Q(z)z −N +Fn (z)Gc (z)Q(z)z −N
=0

(5)
Fig. 1. General structure of plug-in RC system.  −N

[1 + C(z)G(z)] 1 − (1 − Gc (z)Fn (z)) Q(z)z = 0.

(6)
the implementation difficult. The comprehensive analysis and
comparison study are presented. Then, this paper proposes a
The overall system is stable if the following two conditions are
robust compensator which accommodates the sampling period
satisfied [14], [20].
variation in the known bound. In the design, the time-varying
1) Gc (z) is a stable transfer function.
parts due to sampling period interval variation are treated as
parametric uncertainties. 2) (1−Gc (z)Fn (z)) Q(z)∞ < 1 or (7)
π
This paper is organized as follows. Section II presents the |(1−Gc (z)Fn (z)) Q(z)| < 1 ∀ 0 < ωi < . (8)
design of a new compensator using an optimization method. TS
Section III covers how the uncertainties are modeled. As we have specified the controller sampling period Ts and
Section IV describes the robust design. The simulation and the continuous model Gs is known, the discrete plant model
experimental results are given in Section V and Section VI, G(z) and the closed-loop transfer function Gc (z) can be easily
respectively. Section VII concludes this paper. obtained. Hence, the information regarding the magnitude and
phase response of Gc (z) is also known.
Let MGci and θGci , MQi and θQi , and MFni and θFni be
II. N EW D ESIGN OF C OMPENSATOR Fn (z)
the magnitudes and phase responses of Gc (z), the Q-filter, and
The general structure of the digital plug-in RC system is Fn at frequency ωi , respectively. Because the parameters of Fn
shown in Fig. 1 [14], where Grc (z) is the digital RC, C(z) is the are unknown, MFni and θFni are nonlinear scalar functions that
feedback controller, Gz is the plant model, r(k) is the periodic have (2m + 1) variables denoted as r1 , r2 , . . . , rm , q0 , . . . , qm .
reference signal, e(k) is the tracking error, up (k) is the control The stability condition (8) at frequency ωi can be expressed as
signal, and yp (k) is the tracking output.   
The digital RC has a generic transfer function as follows: 1 − MF ejθFni MGc ejθGci  MQ ejθQi  < 1. (9)
ni i i

Q(z)z −N Since the phase response of the Q-filter is zero for all frequen-
Grc (z) = Fn (z) (1)
1 − Q(z)z −N cies, (9) can be rewritten as
 
where Fn (z) is the compensator, Q(z) is the zero-phase low- 1 − MF ejθFni MGc ejθGci  MQ < 1 (10)
ni i i
pass filter with unity gain, Tr is the period of the reference, Ts 
is the sampling period, N = Tr /Ts ∈ N, and N is the integer 1 − MFni MGci ej (θFni +θGci )
number of samples per period and also the order of the internal
model. 
12
For the plug-in RC system shown in Fig. 1, the compensator × 1 − MGci e−j (θFni +θGci ) MQi < 1. (11)
C(z) is first designed to achieve a stable system with the closed-
loop transfer function Gc (z) Let MTi = MFni MGci , θTi = θFni + θGci , and the LHS of (11)
be denoted as hi
G(z)
Gc (z) = . (2)
1 + C(z)G(z) hi = [(1 − MTi [cos (θTi ) + j sin (θTi )])
1
The RC compensator is then designed to cancel the dynamics × (1 − [cos (θTi ) − j sin (θTi )])] 2 MQi (12)
of Gc (z), in which the plant model is usually required [14]–  1
[16]. However, the accurate plant model is sometimes not = 1 − 2MTi cos (θTi ) + MT2i 2 MQi (13)
available due to uncertainties and disturbances [20]. Here, we
propose a new form of compensator, which is a proper and where hi is a scalar function presenting the magnitude response
stable mth-order IIR filter Fn (z), as follows: of (8) at frequency ωi . To satisfy stability condition (8), hi has
to be less than one for all frequencies up to the Nyquist
q0 z m + q1 z m−1 + · · · + qm  1
Fn (z) = , m > 0. (3) hi = 1 − 2MTi cos (θTi ) + MT2i 2 MQi < 1.
z m + r1 z m−1 + · · · + rm (14)

Authorized licensed use limited to: Columbia University Libraries. Downloaded on May 28,2020 at 11:28:03 UTC from IEEE Xplore. Restrictions apply.
2836 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 61, NO. 6, JUNE 2014

We now define an objective function as where a1 , . . . , ak , b1 , . . . , bk are coefficients of the transfer

function.

L
I These coefficients vary when the sampling period Ts is
hTotal = hi ∀ωi = 2π , i = 1, 2, 3, . . . , L (15)
N Ts changed. Assume Ts is varying in the known bound, Ts ∈
i=1
[Tsl , Tsu ] ⊂ R+ , where Tsl and Tsu are the lowest and highest
where L = N/2 for an even N and L = (N − 1)/2 for an sampling periods, respectively. This leads to the parametric un-
odd N . certainties of Gc (z). Define Gcl (z) and Gcu (z) as the transfer
Now, we propose the optimization problem as functions when the plant Gc (z) is sampled at Tsl and Tsu ,
respectively
min hTotal
(p1, ,...,pm ,q0 ,...,qm ) b1 (Tsl )z k−1 + · · · + bk (Tsl )
Gcl (z) = (19)
Subject to : zk + a1 (Tsl )z k−1 + · · · + ak (Tsl )
⎡ ⎤ ⎡ ⎤ ⎡ ⎤
−1 + δ p1 1−δ b1 (Tsu )z k−1 + · · · + bk (Tsu )
⎢ · ⎥ ⎢ · ⎥ ⎢ · ⎥ Gcu (z) = . (20)
1. ⎣ ⎦<⎣ ⎦<⎣ ⎦ z k + a1 (Tsu )z k−1 + · · · + ak (Tsu )
· · ·
−1 + δ pm 1−δ Assume Gc (s) is a continuous-time transfer function
i
2. hi < 1 − τ ∀ωi = 2π , i = 1, 2, 3, . . . , L (16) Gc (s) = D + C(sI − A)−1 B (21)
N Ts
where A, B, C, and D are the matrices of the system state-space
where δ and τ are small positive constants and p1 , p2 , . . . , pm
model. Its discrete-time transfer function is
are m real poles of Fn (z).
Remark 1: We can assume that some poles are complex. Gc (z) = D + C(zI − Ad )−1 Bd (22)
Suppose pi is a complex pole, i.e., p1 = u + jv, so there is a
T
pair conjugate of this pole, i.e., p2 = u − jv. In this case, the where Ad (Ts ) = eATs and Bd (Ts ) = ( 0 s eAτ dτ )B. From the
optimization problem is simply modified to Taylor series, eATs can be expressed as
min hTotal (ATs )2 (ATs )3
(u,v,p3 ,...,pm ,q0 ,...,qm ) eATs = I + ATs + + + ···. (23)
2! 3!
Subject to :
Let the sampling period Ts take small values, i.e., Ts  1.
1. u2 + v 2 < 1 − δ Then, (23) can be approximated as
⎡ ⎤ ⎡ ⎤ ⎡ ⎤
−1 + δ p3 1−δ
· eATs ≈ I + ATs . (24)
⎢ ⎥ ⎢ · ⎥ ⎢ · ⎥
2. ⎣ ⎦<⎣ ⎦<⎣ ⎦
· · · Therefore, matrix Ad can be expressed as
−1 + δ pm 1−δ
I Ad ≈ I + ATs . (25)
3. hi < 1 − τ ∀ωi = 2π , i = 1, 2, 3, . . . , L. (17)
N Ts
The digital system matrix Ad is varying linearly with Ts .
Remark 2: The first condition of (16) consists of m con- Therefore, the eigenvalues of the digital system are the linear
straints which guarantee that all poles of Fn (z) are inside functions of Ts .
the unit circle. The positive constant δ presents the minimum If a robust RC compensator is designed to make the system
distance of all Fn (z) poles from the unit circle. This con- at Tsl and Tsu stable, it will guarantee that the system is stable
dition ensures that the compensator is stable within a safe at any sampling period Ts ∈ [Tsl , Tsu ] ⊂ R+ . The following
margin. section discusses the design of such a robust RC compensator.
Remark 3: The second condition of (16) guarantees that the
closed-loop system is stable within a positive margin of τ .
The optimization problem (16) is a class of nonlinear opti- IV. ROBUST RC D ESIGN
mization that finds (2m + 1) optimum variables subject to m Suppose that the RC compensator Fn (z) is first designed
bound constraints and N/2 (for an even N ) or (N − 1)/2 (for with the nominal sampling period Tsn as discussed in Section II.
an odd N ) nonlinear constraints. Let vector f¯n represent the coefficients of Fn (z)

f¯n = [r1 r2 . . . rm q0 q1 . . . qm ]T . (26)

III. U NCERTAINTY M ODELING
Suppose we have a kth order plant; the transfer function of Now, we design the robust compensator Fr (z) closest to the
Gc (z) can be expressed as nominal one Fn (z) which ensures that the system is stable at
Tsl and Tsu . Let vector f¯r represent the coefficients of Fr (z)
b1 (Ts )z k−1 + b2 (Ts )z k−2 + · · · + bk (Ts )
Gc (z) = (18)
z k + a1 (Ts )z k−1 + · · · + ak (Ts ) f¯r = [r1r r2r . . . rmr q0r q1r . . . qmr ]T . (27)

Authorized licensed use limited to: Columbia University Libraries. Downloaded on May 28,2020 at 11:28:03 UTC from IEEE Xplore. Restrictions apply.
KURNIAWAN et al.: DESIGN OF ROBUST REPETITIVE CONTROL WITH TIME-VARYING SAMPLING PERIODS 2837

Therefore, the robust design can be formulated as TABLE I

O BJECTIVE F UNCTION VALUES OF (16) FOR D IFFERENT VALUES OF m
min f¯r − f¯n 2
(f¯r =r1r r2r ...rmr q0r q1r ...qmr )

Subject to :
⎡ ⎤ ⎡ ⎤ ⎡ ⎤
−1 + δ p1R 1−δ
⎢ · ⎥ ⎢ · ⎥ ⎢ · ⎥
1. ⎣ ⎦<⎣ ⎦<⎣ ⎦
· · ·
−1 + δ pmR 1−δ

i
2. hli < 1 − τ ∀ωi = 2π , i = 1, 2, 3 . . . , N/2
N Tsl
i
3. hui < 1 − τ ∀ωi = 2π , i = 1, 2, 3 . . . , N/2 (28)
N Tsu
where p1r , p2r , . . . , pmr are m real poles of Fr (z)

hli = |(1 − Fr (z)Gcl (z)) Q(z)|ω=ωi (29)

hui = |(1 − Fr (z)Gcu (z)) Q(z)|ω=ωi . (30)
Fig. 2. Magnitude responses of (1 − Gc (z)Fn (z))Q(z) for different m
The robust compensator Fr (z) can be obtained by solving values.
the aforementioned optimization problem, which minimizes a
quadratic objective function subject to m bound constraints and
N nonlinear constraints (N constraints for even N values and
(N − 1) constraints for odd N values).

V. S IMULATION R ESULTS
This section presents the analysis and comparison study of
the proposed method. The continuous plant model has the
following transfer function:
1.74
G(s) =
0.0268ss + s
which represents the dc servomotor used in the experiment.
Let the sampling period be Ts = 0.005 s. The reference
signal r(k) has a fundamental frequency 0.8 Hz, and the
controller C(z) is only a proportional controller with gain 10.
The feedback closed-loop transfer function Gc (z) is obtained
10−3 (0.7634z + 0.7173)
Gc (z) = . (32)
z 2 − 1.8222z + 0.8370
Equation (32) shows that the closed-loop transfer function
Gc (z) has order 2 with relative degree 1. This discrete transfer
function has a zero at radius 0.94 which is close to the unit
circle.
A. Design of Nominal Compensator Fn (z)
A first-order Q-filter is generally accepted in most RC de-
signs [20]. In this case, Q-filter Q(z) = 0.25z + 0.5 + 0.25z −1
is chosen as it gives a sufficient bandwidth to accommodate
the reference harmonics. Small constants δ = 0.075 and τ =
0.05 are chosen, respectively. The optimization toolbox in
MATLAB is employed to solve this optimization problem (16).
Table I shows the objective function values of the optimized
compensator for different m values. Fig. 2 shows the magnitude
(31)
Fig. 3. Phase responses of Gc (z)Fn (z) for different m values.
response of (1 − Gc (z)Fn (z))Q(z), while Fig. 3 shows the
phase compensation θGc (z)Fn (z) for different m values. The
figures indicate that the designed compensator fulfills the stabil-
ity criteria of (8), although it does not completely compensate
the phase and magnitude of Gc (z). The first-order compensator
gives a very large objective function value, which results in
poor magnitude and phase compensation. The second-order
compensator is sufficient enough to compensate both the phase
and magnitude. The compensated phase is significantly small
at low frequency, but it drops to −90◦ at a high frequency. For
m ∈ {3, 4}, the compensator gives slightly better performance
compared with m = 2.
The simulated root mean square (rms) errors for m =
1, 2, 3, 4 are shown in Fig. 4. The reference signal is a triangular
waveform with an amplitude of π/4 and frequency of 0.8 Hz.
Fig. 4 shows that the first-order compensator gives very slow
convergence rate and poor tracking accuracy. For m = 2,
the convergence rate and tracking accuracy are significantly

Authorized licensed use limited to: Columbia University Libraries. Downloaded on May 28,2020 at 11:28:03 UTC from IEEE Xplore. Restrictions apply.
2838 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 61, NO. 6, JUNE 2014

Fig. 6. Phase responses of z m Gc (z) for different m values.

Fig. 4. RMS errors for different m values.

sator should have a phase lead response for a stable discrete

plant with a phase lag response. Because the proposed compen-
sator has a phase lead characteristic, a comparison study is con-
ducted with the phase lead repetitive controller kr z m [20]. Fig. 6
shows the phase response of kr z m . At a low frequency ranged
[0.01,10] Hz, the compensated phase for m = 2, 3, 4 shown
in Fig. 3 is significantly small, very close to 0◦ , compared
with the compensated phase shown in Fig. 6. The frequency
ranges inside the boundary [−90◦ , +90◦ ] shown in Fig. 6 are
also limited. In contrast, the proposed compensator gives a
much wider frequency range as the compensated phases are still
inside the stable range [−90◦ , +90◦ ] for almost all frequency
components. Therefore, the proposed design provides much
better phase compensation, which results in a better tracking
performance as demonstrated in the experimental verification
in the next section.

Fig. 5. Tracking outputs for (a) m = 1 and (b) m = 2. B. Robust RC Compensator Fr (z)
improved compared with m = 1. Fig. 4 shows that the tracking Suppose that the RC compensator is designed at the nominal
error converges to zero after 15 repetitions. sampling period Tsn = 0.005 s, as shown in (33).
Fig. 5(a) and (b) show the tracking outputs for m = 1 and 2, We now design a robust RC compensator to achieve a stable
respectively, where the second-order compensator clearly gives system when the sampling period is varying in the range Ts ∈
better performance. The tracking performances for m = 3, 4 do [0.0025, 0.0085] s. The closed-loop transfer functions Gc (z)
not show significant difference from the tracking performance at the lowest and highest sampling periods are obtained as
for m = 2. In this case, m = 2 can be chosen as the optimum follows:
order of the proposed compensator. The compensator order
should be equal or higher than the plant order to give good 10−3 (0.1967z + 0.1907)
Gcl (z) = (35)
phase and magnitude compensation, as shown in Figs. 2 and 3 z 2 − 1.9090z + 0.9128
103 (1.9228z 2 − 3.5679z + 1.6712) 10−3 (0.2116z + 0.1904)
Fn (z) = . (33) Gcu (z) = . (36)
z 2 + 1.85z + 0.8556 z 2 − 1.7070z + 0.7472

The chosen Q(z) is similar to the previous design, where δ

The designed compensator Fn (z) can be presented in a zero-
and τ are 0.075 and 0.1, respectively. The robust compensator
pole format
Fr (z) can be obtained by solving the optimization problem (28)
  
z−(0.928+0.089i) z−(0.928−0.089i)
Fn (z) = 1922.8 · 103 (0.8022z 2 − 1.4423z + 0.6438)
z+0.925 z+0.925 Fr (z) = . (37)
(34) z 2 + 1.85z + 0.8556

which consists of two-stage phase lead compensators. This can Let the nominal compensator at the lowest and highest sampling
be explained by stability condition (14), in which the compen- periods be Fnl (z) and Fnu (z), respectively, which are obtained

Authorized licensed use limited to: Columbia University Libraries. Downloaded on May 28,2020 at 11:28:03 UTC from IEEE Xplore. Restrictions apply.
KURNIAWAN et al.: DESIGN OF ROBUST REPETITIVE CONTROL WITH TIME-VARYING SAMPLING PERIODS 2839

TABLE II
S TABILITY A NALYSIS FOR T HREE C OMPENSATORS : F nl (z), F nu (z), ANDF r (z)

Fig. 7. Experimental system block diagram.

from the optimization (16)

104 (0.7260z 2 − 1.3992z + 0.6755)

Fnl (z) =
z 2 + 1.85z + 0.8556
103 (0.7177z 2 − 1.2617z + 0.5711)
Fnu (z) = . (39)
z 2 + 1.85z + 0.8556
The stability analysis of the designed RC systems is shown
in Table II. Column 1 indicates that all the eigenvalues of
Ad are changing linearly with Ts . Column 2 shows how the
compensated system meets the stability condition, where the
nominal compensator Fnl (z) is stable in the lower sampling
range [0.0025,0.003], Fnu (z) is stable in the high sampling
range [0.005,0.0085], and Fr (z) is stable for the whole sam-
pling range [0.0025,0.0085].
VI. E XPERIMENTAL R ESULTS
Real-time experiments are conducted to verify the effective-
ness of the proposed design. Figs. 7 and 8 show the block
diagram and hardware of the experiment, respectively. A set of
Quanser hardware is used to control the position of the rotary
servo SRV02-E load shaft. The servomotor open-loop transfer
function is experimentally identified in the frequency domain
and shown in (31). We want to control the angle position of the
servomotor to exactly track the reference signal with amplitude
π/4 rad (45◦ ).
(38)
Fig. 8. Experimental system hardware setup.
A. Design of a Nominal Compensator Fn (z)
We test the tracking performance for a triangular reference
signal. The proposed compensator in (33) is used. The track-
ing output and the tracking error of the system are shown
in Fig. 9(a) and (c), respectively. For comparison, the kr z m
compensator [20] is also implemented with kr = 2 and m = 4.
The value of kr is chosen for fast convergence and determined
according to the design criterion in [20], [27]. The tracking
output and error are shown in Fig. 9(b) and (c), respectively.
Fig. 9(c) indicates that the proposed compensator has a superior
convergence rate.
B. Robust RC Compensator Fr (z)
Given the triangular reference signal with amplitude π/4 rad
(45◦ ), the tracking performance of the compensated RC system
at Ts = 0.0025 s, Ts = 0.005 s, and Ts = 0.0085 s are shown
in Figs. 10–12 respectively.

Authorized licensed use limited to: Columbia University Libraries. Downloaded on May 28,2020 at 11:28:03 UTC from IEEE Xplore. Restrictions apply.
2840
Fig. 9. Tracking output and errors of (a) the proposed compensator and
(b) compensator kr z m and (c) the tracking errors for both compensators.
Fig. 10. Tracking performance at Ts = 0.0025 s: (a) Tracking output and
(b) tracking error.
Figs. 10 and 12 show that the compensated system is stable
at the lowest and highest sampling periods. The aforementioned
experimental results verify the effectiveness of the proposed
robust compensator.
VII. C ONCLUSION
This paper has proposed two main ideas: the new design of
the RC compensator and the robust RC design that works under
Authorized licensed use limited to: Columbia University Libraries. Downloaded on May 28,2020 at 11:28:03 UTC from IEEE Xplore. Restrictions apply.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 61, NO. 6, JUNE 2014
Fig. 11. Tracking performance at Ts = 0.005 s: (a) Tracking output and
(b) tracking error.
Fig. 12. Tracking performance at Ts = 0.0085 s: (a) Tracking output and
(b) tracking error.
time-varying sampling period. First, a low-order, stable, robust,
and causal IIR filter-based compensator has been designed
at a nominal sampling time using an optimization method to
achieve fast convergence and high tracking accuracy. Then, a
robust RC compensator has been designed to achieve a stable
system when the sampling period is varying in a defined range.
The proposed compensators have been verified by simulation
and real-time experiments.
R EFERENCES
[1] C. Li, D. Zhang, and X. Zhuang, “Theory and applications of the repetitive
control,” in Proc. SICE, 2004, pp. 27–34.
[2] G. Hillerström and J. Sternby, “Repetitive control theory and
applications—A survey,” in Proc. the 13th IFAC, 1996, vol. D, pp. 1–6.
[3] Q.-C. Zhong and T. Hornik, “Cascaded current–voltage control to improve
the power quality for a grid-connected inverter with a local load,” IEEE
Trans. Ind. Electron., vol. 60, no. 4, pp. 1344–1355, Apr. 2013.
KURNIAWAN et al.: DESIGN OF ROBUST REPETITIVE CONTROL WITH TIME-VARYING SAMPLING PERIODS
[4] D. Chen, Z. J. Zhang, and Z. Qian, “An improved repetitive control
scheme for grid-connected inverter with frequency-adaptive capability,”
IEEE Trans. Ind. Electron., vol. 60, no. 2, pp. 814–823, Feb. 2013.
[5] Z. X. Jian, H. Lei, C. Xiao, and C. Guozhu, “Design and implementation
of compound current control strategy for improved LCL-based shunt
active power filter,” in Proc. 38th IEEE IECON, 2012, pp. 339–344.
[6] H. Utsugi, K. Ohishi, and H. Haga, “Reduction in current harmonics of
electrolytic capacitor-less diode rectifier using inverter-controlled IPM
motor,” in Proc. 38th IEEE IECON, 2012, pp. 6206–6211.
[7] Y. X. Song, X. H. Yu, G. R. Chen, J. X. Xu, and Y. P. Tian, “Time de-
layed repetitive learning control for chaotic systems,” Int. J. Bifur. Chaos,
vol. 12, no. 5, pp. 1057–1065, May 2002.
[8] J. X. Xu and R. Yan, “On repetitive learning control for periodic tracking
tasks,” IEEE Trans. Autom. Control, vol. 51, no. 11, pp. 1842–1848,
Nov. 2006.
[9] B. A. Francis and W. M. Wonham, “The internal model principle for linear
multivariable regulators,” Appl. Math. Optim., vol. 2, no. 2, pp. 170–194,
1975.
[10] T. Inoue, M. Nakano, and S. Iwai, “High accuracy control of a
proton synchrotron magnet power supply,” in Proc. 8th IFAC, 1981,
pp. 3137–3142.
[11] K. K. Chew and M. Tomizuka, “Digital control of repetitive errors in
disk drive systems,” IEEE Control Syst. Mag., vol. 10, no. 1, pp. 16–20,
Jan. 1990.
[12] E. Kurniawan, Z. Cao, and Z. Man, “Adaptive repetitive control of system
subject to periodic disturbance with time-varying frequency,” in Proc. 1st
ICI, 2011, pp. 185–190.
[13] K. Kalyanam and T.-C. Tsao, “Two-period repetitive and adaptive control
for repeatable and nonrepeatable runout compensation in disk drive track
following,” IEEE/ASME Trans. Mechatronics, vol. 17, no. 4, pp. 756–766,
Aug. 2012.
[14] C. Cosner, G. Anwar, and M. Tomizuka, “Plug in repetitive
control for industrial robotic manipulators,” in Proc ICRA, 1990, vol. 3,
pp. 1970–1975.
[15] M. Tomizuka, T.-C. Tsao, and K.-K. Chew, “Analysis and synthesis of
discrete-time repetitive controllers,” Trans. ASME, J. Dyn. Syst., Meas.
Control, vol. 111, no. 3, pp. 353–358, Sep. 1989.
[16] M. Tomizuka, “Zero phase error tracking algorithm for digital control,”
Trans. ASME, J. Dyn. Syst., Meas. Control, vol. 190, no. 1, pp. 65–68,
Mar. 1987.
[17] G. F. Ledwich and A. Bolton, “Repetitive and periodic controller design,”
Proc. Inst. Elect. Eng.—Control Theory, App., vol. 140, no. 1, pp. 19–24,
Jan. 1993.
[18] G. Hillerstrom and J. Sternby, “Application of repetitive control to a
peristaltic pump,” in Proc. ACF, 1993, pp. 136–141.
[19] B. Panomruttanarug and R. W. Longman, “Repetitive controller design
using optimization in the frequency domain,” in Proc. AIAA/AAS, 2004,
pp. 1215–1236.
[20] B. Zhang, D. Wang, K. Zhou, and Y. Wang, “Linear phase lead com-
pensation repetitive control of a CVCF PWM inverter,” IEEE Trans.Ind.
Electron., vol. 55, no. 4, pp. 1595–1602, Apr. 2008.
[21] X. H. Wu, S. K. Panda, and J. X. Xu, “Design of a plug-in repetitive
control scheme for eliminating supply-side current harmonics of three-
phase PWM boost rectifiers under generalized supply voltage conditions,”
IEEE Trans. Power Electron., vol. 25, no. 7, pp. 1800–1810, Jul. 2010.
[22] S. Mingxuan, W. Youyi, and D. Wang, “Variable-structure repetitive con-
trol: A discrete-time strategy,” IEEE Trans. Ind. Electron., vol. 52, no. 2,
pp. 610–616, Apr. 2005.
[23] Z. Keliang and W. Danwei, “Digital repetitive learning controller for
three-phase CVCF PWM inverter,” IEEE Trans. Ind. Electron., vol. 48,
no. 4, pp. 820–830, Aug. 2001.
Authorized licensed use limited to: Columbia University Libraries. Downloaded on May 28,2020 at 11:28:03 UTC from IEEE Xplore. Restrictions apply.
2841
[24] K. J. Astrom, P. Hagander, and J. Sternby, “Zeros of sampled systems,” in
Proc. 19th CDC, SAP, 1980, pp. 1077–1081.
[25] Z. Cao and G. F. Ledwich, “Tracking variable periodic signals with fixed
sampling rate,” in Proc. 40th IEEE CDC, 2001, vol. 5, pp. 4885–4890.
[26] Z. Cao and S. S. Narasimhulu, “Digital PLL-based adaptive repetitive
control,” in Proc. ISSCAA, 2006, pp. 1468–1471.
[27] D. Wang and Y. Yongqiang, “Design and experiments of anticipa-
tory learning control: Frequency-domain approach,” IEEE/ASME Trans.
Mechatronics, vol. 10, no. 3, pp. 305–313, Jun. 2005.
Edi Kurniawan (M’13) received the B.Eng. degree
in electrical and electronics engineering from Gadjah
Mada University, Yogyakarta, Indonesia, in 2003
and the M.Eng. degree in electrical and electron-
ics engineering from the University of Adelaide,
Adelaide, Australia, in 2009. He is currently working
toward the Ph.D. degree at the Faculty of Engineer-
ing and Industrial Sciences, Swinburne University of
Technology, Hawthorn, Australia.
From 2003 to 2004, he was with LG Electronics
Display Devices Indonesia as a member of the Re-
search and Development Staff. From 2005 to 2006, he was a Junior Researcher
with the Research Center for Informatics, Indonesian Institutes of Sciences,
Jakarta, Indonesia. His research interests include learning control, robust con-
trol, adaptive control, speech recognition, and image processing.
Zhenwei Cao received the B.S. and M.E. degrees
in electrical engineering from Southeast University,
Nanjing, China, in 1985 and 1988, respectively,
and the Ph.D. degree in electrical engineering from
the University of Newcastle, Newcastle, Australia,
in 2001.
She is currently a Senior Lecturer with the Faculty
of Engineering and Industrial Sciences, Swinburne
University of Technology, Hawthorn, Australia. Her
current research interests include robotics, mecha-
tronics, control, and automation.
Zhihong Man (M’94) received the B.E. degree from
Shanghai Jiaotong University, Shanghai, China, in
1982, the M.Sc. degree from the Chinese Academy
of Sciences, Beijing, China, in 1987, and the Ph.D.
degree from the University of Melbourne, Parkville,
Australia, in 1994.
From 1994 to 1996, he was a Lecturer with the
School of Engineering, Edith Cowan University,
Joondalup, Australia. From 1996 to 2001, he was a
Lecturer and then a Senior Lecturer with the School
of Engineering, University of Tasmania, Sandy Bay,
Australia. From 2002 to 2007, he was an Associate Professor of Computer
Engineering with Nanyang Technological University, Singapore. From 2007
to 2008, he was a Professor and the Head of Electrical and Computer Systems
Engineering with Monash University, Subang Jaya, Malaysia. Since 2009, he
has been with Swinburne University of Technology, Hawthorn, Australia, as a
Professor and the Head of Robotics and Mechatronics. His research interests are
in nonlinear control, signal processing, robotics, neural networks, and vehicle
dynamics and control.