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Improvement of deadbeat servomechanism using multirate input control

H. Ito
2000 Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334)  
In addition, this paper presents a design method for multirate ripple-free deadbeat control which guarantees robustness against continuous-time disturbance and model uncertainty.  ...  Multirate input mechanism can yield shorter settling time than single-rate control using the same frequency of sampling. In general, multirate control exhibits intersample ripple.  ...  Introduction There are increasing demands for multirate control to seek better performance [9, 10] . Multirate control is suitable for systems having widely different time constants.  ... 
doi:10.1109/acc.2000.878809 fatcat:onal4x5wjre6pcmvpzdk6g5xxi

Input-state model matching for multirate systems

Mauro Cimino, Prabhakar R. Pagilla
2011 Proceedings of the 2011 American Control Conference  
In this paper we address the model matching problem for multirate systems where the controller output is generated at a faster rate than the measurement update rate.  ...  We provide a solution to this problem using a particular time-varying controller structure. In addition we give conditions to avoid ripples in the steady-state output of the continuous-time plant.  ...  Conditions for ripple-free steady-state response In this section we investigate under which conditions the closed-loop multirate system, obtained by designing K L and L L according to (16) and (17)  ... 
doi:10.1109/acc.2011.5991473 fatcat:giily44sifcx3nx5nqxmrvhhqq

MULTIRATE DIGITAL DECENTRALIZED CONTROL DESIGN

Seung-Hi Lee
2005 IFAC Proceedings Volumes  
Multirate digital decentralized control design is presented for linear timeinvariant systems with interaction between subsystems.  ...  The design technique, implemented in multirate digital control, eventually allows us to separately design controllers for each subsystem without considering interaction between them.  ...  The lifting technique (Kranc, 1957; Meyer, 1992; Albertos and Salt, 1999) can be applied to represent the multirate system as a time-invariant lifted finitedimensional discrete system.  ... 
doi:10.3182/20050703-6-cz-1902.00543 fatcat:xfarrr7uqveohne7k2mm77jxz4

Design Technique For Multi-Rate Linear Systems

M. Cimino, P.R. Pagilla
2008 IFAC Proceedings Volumes  
In this paper a design technique for multi-rate, linear digital control systems is described.  ...  The multi-rate system is designed to achieve state-matching, at the fastest rate, with the ISRS, and to exhibit a ripple-free response with zero steady-state error in response to a step reference signal  ...  The designed multi-rate system exhibits a ripple-free response that resembles the ISRS response in both the cases q = 4, q = 14.  ... 
doi:10.3182/20080706-5-kr-1001.02569 fatcat:jv5edtycnrhkhc4s3v5jerokra

Preview Tracking Control for Discrete-Time Multirate Systems: An Internal Model-Based Approach

Yuedou Pan, Mengtong Pei, Li Li, Yanrong Lu
2020 Mathematics  
Since the input and the state cannot be measured at the same time, the multirate system is first lifted into the single-rate system.  ...  Through verifying the solvability of the output regulation problem, the sufficient conditions and the corresponding controller with preview action and feedforward compensation are presented for the output  ...  , then based on the definition of zeros and zero directions, the conditions for realizing asymptotic ripple-free tracking of multirate systems are provided.  ... 
doi:10.3390/math8091443 fatcat:tgguyhehivbezbg53oxz2b5jya

Multirate Digital Signal Processing via Sampled-Data H-infinity Optimization [article]

Masaaki Nagahara
2013 arXiv   pre-print
In this thesis, we present a new method for designing multirate signal processing and digital communication systems via sampled-data H-infinity control theory.  ...  We discuss the stability and the performance of quantized sampled-data control systems. We justify H-infinity control to reduce distortion caused by the quantizer.  ...  Approximating multirate sampled-data systems By using the discrete-time lifting, the multirate system shown in Figure 2 .4 is converted to a single-rate discrete-time system.  ... 
arXiv:1308.4268v1 fatcat:2eiewnqgyvh4nenresia25s2xy

A function space approach to sampled data control systems and tracking problems

Y. Yamamoto
1994 IEEE Transactions on Automatic Control  
This paper presents a new framework for hybrid sampled-data control systems.  ...  This leads to the internal model principle for sampled-data systems.  ...  In this section, we first study the case where the reference signals are generated by a simple pole and give a ripple-free tracking condition for this case.  ... 
doi:10.1109/9.286247 fatcat:txvttfuo3bdejmbsbexe3zyoxa

Sampled-data adaptive ESO based composite control for nano-positioning systems

Chuan Tian, Peng Yan
2020 IEEE Access  
This work studies a novel sampled-data adaptive extended state observer (ESO) based composite control approach for the digital nano-positioning systems with sampling restrictions.  ...  The proposed control method is then applied to the simulations and experiments in a piezoelectric nano-positioning system so as to validate its effectiveness.  ...  In the present work, the double-rate condition, namely N = 2, for disturbance commentator will be used to simplify the design such that system (1) shows the following lifted single-rate discrete form with  ... 
doi:10.1109/access.2019.2963685 fatcat:t44f7tuk55guzpzn2gk3hzh6r4

RRO compensation of hard disk drives with RPTC considering correlation of adjacent tracks

Hiroaki Nishina, Hiroshi Fujimoto
2008 2008 SICE Annual Conference  
This paper presents an improvement method of repetitive controller based on perfect tracking control (PTC) in order to reject variance repeatable runout (RRO) of hard disk drive.  ...  The PSG works to make feedforward signal from the periodic disturbance and the PTC generates control input to cancel the periodic error in steady-state.  ...  Thus, the controller can be regarded as the multirate control system which have the hardware restriction of T u < T y .  ... 
doi:10.1109/sice.2008.4655097 fatcat:2ejbwcqobrcg7gxt3jzg3saauu

RRO compensation of HDD based on RPTC method with re-learning scheme for discreate track recording media

Hiroaki Nishina, Hiroshi Fujimoto
2009 2009 American Control Conference  
This paper presents an improvement method of repetitive controller based on perfect tracking control (PTC) in order to reject variable repeatable runout (RRO) of hard disk drive.  ...  The PSG works to make feedforward signal from the periodic disturbance and the PTC generates control input to cancel the periodic error in steady-state.  ...  Fig. 1 . 1 Multirate hold. Fig. 2 . 2 Repetitive perfect tracking controller. Fig. 3 . 3 Periodic signal generator for 2nd order system.  ... 
doi:10.1109/acc.2009.5160462 dblp:conf/amcc/NishinaF09 fatcat:yiinhweqo5ejdarnkwztoinefy

PWM and PFM for visual servoing in fully decoupled approaches

Pau Muñoz-Benavent, J. Ernesto Solanes, Luis Gracia, Josep Tornero
2015 Robotics and Autonomous Systems  
PWM and PFM for visual servoing in fully decoupled approaches. Robotics and Autonomous Systems. 65(1):57-64.  ...  Index Terms-Visual servoing, robot vision systems, robot manipulators, robot control.  ...  The approach in [25] also categorizes work conditions that visual servo systems often experience difficulty to handle.  ... 
doi:10.1016/j.robot.2014.11.011 fatcat:4u56jauglfbudoewa44m7w2k74

Multistage output-lifting eigenstructure assignment: a multirate ball and plate example

Lejun Chen, Andrew Pomfret, Tim Clarke
2018 International Journal of Control  
eigenstructure, particularly the desired eigenvectors, to distribute and decouple the natural modes among appropriate states or outputs, based upon an example: a novel multirate Ball and Plate system.  ...  In this scheme, design degrees of freedom, enlarged via output-lifting, are further exploited to improve eigenvector assignment.  ...  Application of Multistage Output-Lifting Eigenstructure Assignment The Ball and Plate system is a typical multirate output feedback control system.  ... 
doi:10.1080/00207179.2018.1459856 fatcat:cgjptfjnibambfrfj57mt4gf5q

Robust Repetitive Perfect Tracking Control of HDDs Based on Re-learning Scheme

Hiroshi Fujimoto
2013 IEEJ Journal of Industry Applications  
This paper presents an improved method of a repetitive controller based on perfect tracking control (PTC) in order to reject the variable repeatable runout (RRO) of hard disk drives (HDDs).  ...  The PSG produces a feedforward signal from the periodic disturbance, and the PTC generates a control input to cancel the periodic error in the steady state.  ...  Nishina, for his help in simulations and experiments.  ... 
doi:10.1541/ieejjia.2.40 fatcat:fsx7abfl6vfsneqc4z5z4qz7v4

FIR Digital Filter Design by Sampled-Data * H ∞ Discretization

Masaaki Nagahara, Yutaka Yamamoto
2014 IFAC Proceedings Volumes  
In particular, FIR approximation of analog filters (or systems) is ubiquitous not only in signal processing but also in digital implementation of controllers.  ...  By using the lifting technique and the KYP (KalmanYakubovichPopov) lemma, we reduce the H ∞ optimization to a convex optimization described by an LMI (linear matrix inequality).  ...  This system appears in e.g. the Smith predictor K c (s) = (1 − e −mhs )G(s), for controlling time delay systems proposed in Smith [1957] , whose discretization is important for implementing the controller  ... 
doi:10.3182/20140824-6-za-1003.00831 fatcat:uzyjvdb5pvakdknvl3ma2rvpxu

FIR Digital Filter Design by Sampled-Data H-infinity Discretization [article]

Masaaki Nagahara, Yutaka Yamamoto
2014 arXiv   pre-print
In particular, FIR approximation of analog filters (or systems) is ubiquitous not only in signal processing but also in digital implementation of controllers.  ...  By using the lifting technique and the KYP (Kalman-Yakubovich-Popov) lemma, we reduce the H-infinity optimization to a convex optimization described by an LMI (linear matrix inequality).  ...  This system appears in e.g. the Smith predictor K c (s) = (1 − e −mhs )G(s), for controlling time delay systems proposed in Smith [1957] , whose discretization is important for implementing the controller  ... 
arXiv:1407.2415v1 fatcat:em2e5askznb3xc4dg2szgm7tvm
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