Application of Repetitive Control to a Peristaltic Pump

Hillerström, Gunnar; Sternby, Jan

doi:10.23919/acc.1993.4792823

Cited by 36 publications

(11 citation statements)

References 7 publications

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“…Similar approaches but with slightly different internal models can be found in [12] and references therein. Now, we briefly discuss the existence of solutions for (3).…”

Section: A One-period Repetitive Control For Disturbance Rejectionmentioning

confidence: 88%

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Multiple-period adaptive-repetitive control of a hard disk drive

Pérez-Arancibia

Tsao

Gibson

2009

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) Held Jointly With 2009 28th Chinese Control Conference

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This paper introduces a new method for synthesizing multiple-period repetitive controllers, which are suitable for integration into a combined adaptive-repetitive control scheme. The proposed synthesis method can be implemented recursively reducing the complexity of controller design considerably when compared with other methods available in the literature. In order to exemplify the synthesis procedure, a multiple-period adaptive-repetitive controller is designed for track-following control of a commercial hard disk drive and implemented in real-time using a digital signal processor. Experimental results show the effectiveness of the approach introduced in this work.

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“…Similar approaches but with slightly different internal models can be found in [12] and references therein. Now, we briefly discuss the existence of solutions for (3).…”

Section: A One-period Repetitive Control For Disturbance Rejectionmentioning

confidence: 88%

“…which can be translated into (12) In (12) the real number γ can be thought of as a stability and performance tuning parameter. It is important to emphasize that when (12) is satisfied, the resulting controller K o is stable and consequently the closed-loop system is stable as well.…”

Section: B Nominal Stability Analysismentioning

confidence: 99%

Multiple-period adaptive-repetitive control of a hard disk drive

Pérez-Arancibia

Tsao

Gibson

2009

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) Held Jointly With 2009 28th Chinese Control Conference

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“…This kind of disturbances contain any approximated periodic signal based on a well-known fact that any periodic signal can be expanded in Fourier series where each term is of sinusoid (Chauvin, 2011;Chauvin, Corde, Petit, & Rouchon, 2007). The periodic disturbance rejection is the objective of the repetitive control (Hillerström & Sternby, 1994;Medvedev & Hillerström, 1995).…”

Section: Well-posedness and Stability With Disturbancementioning

confidence: 99%

Lyapunov approach to the boundary stabilisation of a beam equation with boundary disturbance

Guo

Kang

2013

International Journal of Control

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In this paper, we are concerned with the boundary output feedback stabilisation of an Euler-Bernoulli beam equation with one free boundary end and control/disturbance on the other end. A variable structure output feedback stabilising control law is designed by the Lyapunov functional approach. It is shown that the resulting closed-loop system without disturbance is associated with a nonlinear semigroup and asymptotically stable except the zero dynamics. In addition, we show that this control law is robust to the external disturbance in the sense that the vibrating energy of the closed-loop system outside of the zero dynamics converges to zero as time goes to infinity in spite of the presence of finite sum of harmonic disturbance on the control end. The existence of the Filippov solution with disturbance is developed by the Galerkin approximation scheme.

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“…Operating a peristaltic pump while relying on the flow setting provided by a manufacturer can result in total flow errors as large as 2 L/h [18]. A method by Hillerström and Sternby [8] for controlling the angular speed of the pump rollers is suitable for enhancing robustness in some medical applications, where maintaining a precise flow is not necessary. However, since this method does not take into account changes in the tubing characteristics or pressure effects, tracking an angular speed setpoint is not suitable for fluid flow control.…”

Section: Control Problem Formulationmentioning

confidence: 99%

Hierarchical adaptive and supervisory control of continuous venovenous hemofiltration

Morales

Polycarpou

Hemasilpin

et al. 2001

IEEE Trans. Contr. Syst. Technol.

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Continuous venovenous hemofiltration (CVVH) is a lifesaving renal replacement therapy used in clinical intensive care settings. Patients undergoing a life threatening illness often develop kidney failure. CVVH performs the blood filtering process while the kidneys recover. Hemofiltration devices which are currently available operate through open-loop fluid flows induced by peristaltic pumps, and possess precisions of 30 ml of fluid removed per hour. This precision is inappropriate for a neonate, who can have a total blood volume of only 150 ml, and a 15 ml blood volume reduction could cause hypovolemic shock. Because of the patient risk involved in using such equipment, most medical centers measure the fluid removed from the patient on an hourly basis. This measurement step leads to a significant increase in nursing care and therefore increases the cost of the therapy. Presented in this paper is an intelligent CVVH system that deals with accuracy and cost issues while improving the care delivered by timely responding to changes in a patient's cardiovascular state. The intelligence aspect of the system is achieved through a hierarchical control architecture for CVVH. The control methodology uses a direct adaptive control scheme for the peristaltic pumps and a supervisory control algorithm for high-level decisions on the safe operation of the system. Adaptive control of the pumps results in improved accuracy of fluid flow, while the supervisory controller provides greater autonomy which reduces the burden on clinical personnel. The performance of the proposed hierarchical controller is illustrated by experiments on a hemofiltration machine using a simulated patient. These experimental simulations showed that the measured cumulative ultrafiltration after one hour of simulation was only 1.7 ml different from the target value, which is well within the acceptable medical range.

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Application of Repetitive Control to a Peristaltic Pump

Cited by 36 publications

References 7 publications

Multiple-period adaptive-repetitive control of a hard disk drive

Multiple-period adaptive-repetitive control of a hard disk drive

Lyapunov approach to the boundary stabilisation of a beam equation with boundary disturbance

Hierarchical adaptive and supervisory control of continuous venovenous hemofiltration

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