A distributed delay based controller for simultaneous periodic disturbance rejection and input-delay compensation

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F23%3A00368341" target="_blank" >RIV/68407700:21220/23:00368341 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1016/j.ymssp.2023.110364" target="_blank" >https://doi.org/10.1016/j.ymssp.2023.110364</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.ymssp.2023.110364" target="_blank" >10.1016/j.ymssp.2023.110364</a>

Jazyk výsledku

angličtina

Název v původním jazyce

A distributed delay based controller for simultaneous periodic disturbance rejection and input-delay compensation

Popis výsledku v původním jazyce

The paper presents a controller design for systems suffering from multi-harmonic periodic disturbance and substantial input time-delay. It forms an alternative approach to Repetitive Control where the goal is to stabilize a close-loop that encapsulates an explicit time-delay model of the periodic signal. The proposed controller design is based on the Internal Model Control (IMC) framework, and it consists of the inverse system model and a tuneable distributed delay with an overall length related to the period of the disturbance. The properness of the controller can be ensured by utilizing a low-pass filter, however, such a component is shown to be unnecessary when the relative order of the system model is one. This fact makes the alternative approach especially suitable for systems approximated by a first-order model with input time-delay, leading to a straightforward controller design thanks to its simple structure and attainable conditions. Stability of the configuration is guaranteed by an ideal IMC framework. For further performance and robustness requirements for the non-ideal case the tuning of the controller is posed as a weighted-7-infinity optimization problem where frequency-, spectral-and time-domain requirements are formulated as constraints. The overall control design is experimentally verified on a laboratory setup that has high-order dynamics approximated by a first-order model with input delay.

Název v anglickém jazyce

A distributed delay based controller for simultaneous periodic disturbance rejection and input-delay compensation

Popis výsledku anglicky

The paper presents a controller design for systems suffering from multi-harmonic periodic disturbance and substantial input time-delay. It forms an alternative approach to Repetitive Control where the goal is to stabilize a close-loop that encapsulates an explicit time-delay model of the periodic signal. The proposed controller design is based on the Internal Model Control (IMC) framework, and it consists of the inverse system model and a tuneable distributed delay with an overall length related to the period of the disturbance. The properness of the controller can be ensured by utilizing a low-pass filter, however, such a component is shown to be unnecessary when the relative order of the system model is one. This fact makes the alternative approach especially suitable for systems approximated by a first-order model with input time-delay, leading to a straightforward controller design thanks to its simple structure and attainable conditions. Stability of the configuration is guaranteed by an ideal IMC framework. For further performance and robustness requirements for the non-ideal case the tuning of the controller is posed as a weighted-7-infinity optimization problem where frequency-, spectral-and time-domain requirements are formulated as constraints. The overall control design is experimentally verified on a laboratory setup that has high-order dynamics approximated by a first-order model with input delay.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/GA21-07321S" target="_blank" >GA21-07321S: Přetrvávající problémy repetitivního řízení</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2023

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Mechanical Systems and Signal Processing

ISSN

0888-3270

e-ISSN

1096-1216

Svazek periodika

197

Číslo periodika v rámci svazku

110364

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

14

Strana od-do

—

Kód UT WoS článku

001006445900001

EID výsledku v databázi Scopus

2-s2.0-85154048320