Journal article
Authors list: Mandra, Slawomir; Galkowski, Krzysztof; Aschemann, Harald
Publication year: 2017
Pages: 36-47
Journal: Control Engineering Practice
Volume number: 65
ISSN: 0967-0661
eISSN: 1873-6939
DOI Link: https://doi.org/10.1016/j.conengprac.2017.05.004
Publisher: Elsevier
Abstract:
This contribution presents a robust ILC control design based on guaranteed costs. By combining this ILC design with dynamic feedforward control and an observer-based disturbance compensation, the initial tracking errors in an early learning stage can be reduced. The benefits of the proposed design approach are pointed out at the example of a robust position control of a Permanent Magnet Synchronous Motor (PMSM), which is subject to uncertain model parameters. The paper is concluded with convincing experimental results from a dedicated test rig. Moreover, a comparison with a classical observer-based tracking control is provided. (C) 2017 Elsevier Ltd. All rights reserved.
Citation Styles
Harvard Citation style: Mandra, S., Galkowski, K. and Aschemann, H. (2017) Robust guaranteed cost ILC with dynamic feedforward and disturbance compensation for accurate PMSM position control, Control Engineering Practice, 65, pp. 36-47. https://doi.org/10.1016/j.conengprac.2017.05.004
APA Citation style: Mandra, S., Galkowski, K., & Aschemann, H. (2017). Robust guaranteed cost ILC with dynamic feedforward and disturbance compensation for accurate PMSM position control. Control Engineering Practice. 65, 36-47. https://doi.org/10.1016/j.conengprac.2017.05.004
Keywords
Discrete linear repetitive process; Disturbance observer; Guaranteed cost control; Iterative learning control; Model uncertainty; Permanent magnet synchronous motor
