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https://hdl.handle.net/2142/83994
Description
Title
Robust Repetitive Control and Its Application
Author(s)
Li, Jianwu
Issue Date
1999
Doctoral Committee Chair(s)
Tsao, Tsu-Chin
Department of Study
Mechanical Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, System Science
Language
eng
Abstract
Both OPRRC and TPRRC are successfully applied to an electrohydraulic actuator for non-circular machining of camshaft to show their effectiveness. A dual stage actuator using an electrohydraulic actuator and a piezoelectric actuator is developed to further reduce cam profile tracking errors. The design, modeling, analysis and preliminary control design of the dual stage actuator are presented. The experimental results are also presented to demonstrate the effectiveness of dual stage actuator. Finally, TPRRC is also applied to a disk drive read-write head following tracking servo control problem to reject both repeatable runout (RRO) and non-repeatable runout (NRRO) simultaneously. Simulation results show that the position error signal (PES) of a disk drive is reduced by three folds. The initial response of the TPRRC as well as most other repetitive control systems typically takes one period (of the periodic exogenous signal) to converge. A feedforward control is proposed and shown to increase the transient convergence rate for the TPRRC when switching from one data track to another.
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