Repetitive Control for Intermittently Sampled Data
Convergence, Design, and Applications
Johan Kon (Eindhoven University of Technology)
Nard Strijbosch (Eindhoven University of Technology)
Sjirk Koekebakker (Canon Production Printing)
Leonid Mirkin (Technion)
Tom Oomen (TU Delft - Mechanical Engineering, Eindhoven University of Technology)
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Abstract
The standard assumption that exact measurement data is available at equidistant time instances in repetitive control (RC) is not always justified, e.g., when exploiting time-stamped data from incremental encoders or in systems with data dropouts. The aim of this article is to develop an RC framework that is capable of exploiting intermittently sampled measurement signals. Stability conditions for the intermittent RC framework are provided that can be verified using the frequency response function (FRF) data. This condition results in a frequency-domain design procedure for repetitive controllers in this intermittent setting. The intermittent RC framework is validated on an industrial print belt setup for which nonequidistant measurement data are available.
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