Multirate repetitive control for an industrial print-belt system
Leontine Aarnoudse (Eindhoven University of Technology)
Kevin Cox (Eindhoven University of Technology)
Sjirk Koekebakker (Canon Production Printing, Eindhoven University of Technology)
T. Oomen (Eindhoven University of Technology, TU Delft - Team Jan-Willem van Wingerden)
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Abstract
The increasing complexity of next-generation mechatronic systems leads to different types of periodic disturbances, which require dedicated repetitive control strategies to attenuate. The aim of this paper is to develop a new repetitive control strategy to completely attenuate a periodic disturbance and a user-defined number of relevant higher harmonics with limited memory usage. To this end, a multirate repetitive controller is developed, which combines a buffer at a reduced sampling rate with learning and robustness filters at the original sampling rate of the system. This leads to a linear periodic time-varying system, for which convergence conditions are developed. The method is implemented on an industrial print-belt system, demonstrating that it can match the performance of traditional repetitive control while significantly reducing the memory usage.
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