Digital Repetitive Control under Varying Frequency Conditions 1st edition by German Ramos, Ramon Costa Castello, Josep Olm ISBN 3642377785 9783642377785

Introduction

1.1 Motivation and Problem Statement

1.2 Contribution

1.3 Outline

References

Repetitive Control

2.1 Basics

2.1.1 The Internal Model Principle

2.1.2 The Repetitive Controller

2.2 Performance under Varying Frequency

References

Part I Varying Sampling Approach

Stability Analysis Methods

3.1 Introduction

3.1.1 State of the Art

3.1.2 Contribution

3.1.3 Outline

3.2 Repetitive Control under Varying Frequency Conditions

3.3 LMI Gridding Approach

3.4 Robust Analysis

3.5 Conclusions

References

Design Methods

4.1 Introduction

4.1.1 State of the Art

4.1.2 Contribution

4.1.3 Outline

4.2 Robust Stability Design

4.3 Plant Pre-compensation

4.4 Conclusions

References

Part II HORC Approach

Odd-Harmonic High Order Repetitive Control

5.1 Introduction

5.1.1 State of the Art

5.1.2 Contribution

5.1.3 Outline

5.2 Internal Model Poles Analysis

5.3 Odd-Harmonic HORC

5.3.1 Odd-Harmonic Repetitive Control

5.3.2 Odd-Harmonic HORC Internal Model

5.3.3 Selection of the Gain kr

5.3.4 Performance under Varying Frequency Conditions

5.3.5 Second-Order Odd-Harmonic Internal Model

5.4 Anti-windup Synthesis for Repetitive Control

5.4.1 Introduction

5.4.2 The General MRAW Scheme

5.4.3 MRAW Proposal: The Deadbeat Anti-windup Controller for RC

5.4.4 MRAW Proposal: Design and Stability

5.4.5 Stability

5.4.6 Optimal Design

5.5 Conclusions

References

Part III Experimental Validation

Roto-Magnet

6.1 Plant Description

6.2 Standard Repetitive Controller

6.3 The Varying Sampling Period Strategy

6.3.1 Implementation Issues

6.3.2 LMI Gridding Approach

6.3.3 Robust Control Theory Approach

6.3.4 Experimental Results

6.4 Robust Design

6.4.1 Experimental Results

6.5 Adaptive Pre-compensation

6.5.1 Controller Design

6.5.2 Experimental Results

6.6 Anti-windup Optimal Design for HORC

6.6.1 Experimental Setup

6.6.2 Experimental Results

6.7 Conclusions

References

Shunt Active Power Filter

7.1 Plant Description

7.1.1 Control Objectives

7.1.2 Controller Structure

7.2 Odd Harmonic Repetitive Controller

7.2.1 Performance at Nominal Frequency

7.2.2 Performance under Network Frequency Variations

7.3 Varying Sampling Results

7.3.1 Implementation Issues

7.3.2 Robust Control Theory Approach

7.3.3 Experimental Results

7.4 Adaptive Pre-compensation

7.4.1 Controller Design

7.4.2 Controller Calculation

7.4.3 Experimental Results

7.5 Robust Design

7.5.1 Experimental Results

7.6 HORC

7.6.1 Experimental Setup

7.6.2 Experimental Results

7.7 Conclusions

References

Conclusions

8.1 Conclusions

Appendices

A Implementation of the Stabilizing Filter

References

B Calculation of the Sampling Period Variation Interval

B.1 First-Order Plants

B.2 Higher Order Plants

B.2.1 Numerical Calculation

B.2.2 Log Norm Bound

B.2.3 Schur Decomposition-Derived Bound

References

C Optimal LQDesign in LMI Form

References

D List of Symbols

Index