Repetitive Control Theory

Basics of Control Theory

Open Loop Versus Closed Loop
1 Open Loop systems are always stable unless plant behavior
is unstable where as closed loop system, if properly
designed can compensate for instability of plant for
example of balancing of Inverted Pendulum in closed loop.
2 losed loop can improve transient response and
compensate for disturbances, nonlinearity of the plant etc.
! Open loop control is simple where as closed loop is
complex as compared with open loop as controller design
re"uires additional hardware and has to be design for a
stable operation.
Goals for Design of a Controller in a Closed Loop
Control
#ast $ransient %esponse
&ero steady state error
'hould be stable over complete range of operation.

(xample of 'tability by Perturbation

+5
V
-5V +1
5V
-
15
V
-
5
V
+5
V
10
K
10
K
-5V
+5
V
10
K
10
K
+5V -5V +15
V
-
15V
Analog Controller Versus Digital Controllers
Implementation of analog controllers is "uite old and well
)nown from time of steam engine in the recent history.
*nalog ontrollers have wide band+width
(asy Implementations.
,ardware si-e is proportional to number of functions to be
implemented.
an be adopted for linear as well as non+linear plant
behavior.
an not log.save /ata
#ault conditions will be lost on power failure.
Advantages of Digital Controller
Some of the advantages of digital controller over
analog controller are listed elo!"
#le$iility % Any changes in methodology or control
parameters don&t re'uire changes in hard!are"
Advanced Control % Due to implementation of digital
control( )t has een possile to implement more
advanced control schemes such as Dead*Beat control(
Disturance oserver( Repetitive control( +alman #ilter(
,ar- and Clar- transforms etc" to achieve etter
performance" Can e designed for linear as !ell as non*
linear plant ehavior"
Communication . Control % System can
communicate !ith several other systems as !ell as
!ith master controller to implement factory
automation" This helps in setting control parameters
remotely"
Reduction in /ard!are si0e of controller %
As one DS, chip can e used for generating
several ,)D loops and signal monitoring . control
hence re'uire minimal system
Data Logging and #ault recording% )nevent of fault
condition all the data and fault conditions can e
recovered for further action
1ultiple$ing and 1ultitas-ing % 2ith general
purpose digital hard!are( many more signals can e
sampled y 3ust adding a multiple$ers !hich increases
the fle$iility of the control and one DS, chip can
perform several operations such as computation of
control la!( signal sampling( fault recording(
communication etc" #ault recording could e
summari0ed as one of the est facility that digital
control can offer"
Disadvantages of Digital Controller
Sampling 4ffect % 5nless sampled at higher rates can
result into aliasing of signal and there y loosing
important data
Time Delay 4ffect % Sampling introduces delays" Delay
introduces fre'uency dependent phase lag !ith no
change in amplitude and ,hase lag reduces closed*loop
staility
6uanti0ation and Delay 4ffects % A*to*D conversion
causes 'uanti0ation errors" This reduces accuracy of
measurement of input7output signals" 4ffect of this can
e reduced y higher order A7D converters"
4ffect of Time Delay on Step Response and Staility

Some ,opular Techni'ues 5sed )n Digital Control
/ead+0eat ontrol
Predictive ontrol
/igital PI/
Observer based 'ensor+less ontrol
%epetitive ontrol (tc
losed+loop system

If we assume that 1, 22 1, then the overall transfer
function simplifies to
0
1
1
1

+
=
GH
GH
error
if 1,221
)f reference input is a DC 'uantity then using ,) loop
!ill give 0ero steady state error"
S
I
K
p
K +
-
+
0ut for * %eference Input, PI loop gain has finite
gain and can not trac) the * input hence to ma)e
the controller trac) exactly to the given * reference,
resonant controller scheme was introduced.

Gain

1H
z
10H
z
100H
z
but then with with the advent of microprocessors d"
transformation techni"ue was developed. $his uses
conventional PI loop and * "uantities are
transformed in to / to get -ero steady state error.
,rincipal of Repetitive Control
%epetitive control intends to trac).re3ect
arbitrary periodic signals.disturbance of a
fixed period
$rac)ing./isturbance re3ection of periodic
signals appear in many applications
,ard dis)./ drives
(lectric power supply
%obotic motions
'teppers in I productions
*nd many others
,istory4 $he #irst (xample
5agnet power supply for a proton
synchrotron 67a)ano and others8 for
%ing 5agnet
ontrol Ob3ective4
ontrol the power supply curve
6periodically8 to the following shape4
Precision re"uirement4 order of 9.1:;

)nternal 1odel ,rinciple of a Control System
*ccording to internal model principal if Laplace transform of
:in6s8 and 1c6s8 should have same poles to exactly trac) the
reference.
If input signal or the disturbance is periodic then it can be
represented by #ourier series as
'o the minimal system 1
c

will consist of following poles.
G
C
(S)
V
in
(s
)

= +
=
1
) ........(1 ..........
)
2
0

2
n
2
(s
2
)
0
(n
1
) (
n
s
s
c
G

) 2 .( ..........
! 7
6
) ' (
! 5
4
) ' (
! 3
2
) ' (
1
) ' (
) ' sin(
+ + =
s s s
s
s

$his polynomial has roots at s < =.+ 1, =.+ 2, and so on.

'o
) 3 .( ).........
2
3
2
'
1 )(
2
2
2
'
1 )(
2
1
2
'
1 (
) ' (
) ' sin( s s s
s
s
=

(xpanding right+hand side we get

) 4 ...]...(
2
3
2
'
2
2
2
'
2
1
2
'
...... ' ...)
2
3
1
2
2
1
2
2
1
2
1
1
( ' ...)
2
2
1
2
1
1
( 1 [
'
) ' sin(
4 2
+ + + + + =
s s s
s s
s
s

omparing coefficients of e"un 2 > ? we get following.

6
2
. ..........
2
4
1
2
3
1
2
2
1
1

= + + + + and similarly
120
2
........
2
5
1
.
2
4
1
2
4
1
2
3
1
2
3
1
2
2
1
= + +
In any given function we may replace a variable with
another variable with out changing its value.
Let be s@ < 3As in e"un ? then we get
) 5 .( ).........
2
3
2
1 )(
2
2
2
1 )(
2
1
2
1 (
) (
) sin( s s s
s j
s j
+ + + =

) 6 ........(
1
)
2
2
1 (
) sin(

=
+ =
n
n
s
s j
s j

) 7 ........(
1
)
2
2
1 (
sinh

=
+ =
n
n
s
s
s

) 8 .........(
1
) 1 (
1
sinh
2
2

=
+
=
n
n
s
s
s

) 9 .........(
) 1 (
1 1
sinh
1
2
2

+
=
= n
n
s
s
s

) 10 .........(
) 1 (
1 1
sinh
2
1
2
2
0

+
=
= n
T
n
s
s
s

) 11 .........(
) 1 (
1 1
sinh
2
1
2
2
0

+
=
= n
T
n
s
s
s

*gain substitute ' +2 '.B

9
then
$hen
) 12 )........( ( .
) 1 (
1 1
) sinh(
2
1
2
0
2
2
0
s
c
G
n
s
s
s
n
T
=

+
=
=

0ut
'o
) 13 )........( (
) sinh(
2
2
s
c
G
sT
T
=
To calculate the transfer function of the above eun first !e have to
substitute s " #$ an% T " &'( $
0
an% then !e )et

) (
0
0
2
1

j
e
j
Te

an%
) sin(
)
0
2
1 (
0
0

T
j
e
j
Te
=

) (
0
2
1

j
e
0
2

j
e

1*0
'o the minimal system for 1
c
6s8 is given as below.
$his can be derived by using following bloc).
or
V
error
(s
)
"
Gc(s)
+erio%ic ,avefor- Generator
V
error
(s)
V
error
(s)
T
"
G
c
(
s
)
+
l
a
n
t
T
"
G
c
(
s
)
+
l
a
n
t
&
T
"
G
c(
s)
+l
an
t
.
T
"
G
c(
s)
+l
an
t
0
"
G
c(
s)
+l
an
t
Periodic Waveform Generator
z
-/
0(z
-1
)
1
K
+
+
error
2e3etitive Control
4loc5
T
"
G
c
(
s
)
+
l
a
n
t
T
"
G
c
(
s
)
+
l
a
n
t
+
-
+10V
2e3etitive
Control
+
+
error
e
-sT
2e3etitive Control 4loc5
+
+
e
-sT
+
-
+10V
+
+
e
-sT
+
-
+10V +5V
5V
+5V
0 V
+
+
e
-sT
+
-
+10V +675V
675V
+&75V
+5V
+
+
e
-sT
+
-
+10V +8765
V
8765
V
+17&5
V
+675V