Disturbance Rejection Through an External Model

Tomizuka, Masayoshi; Chew, Kok-Kia; Yang, Wei-Chi

doi:10.1115/1.2896180

Cited by 51 publications

(6 citation statements)

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“…Control methods applied to this class of problems are typically categorized into two types, namely feedback methods that are based on internal model principle (IMP) [13] and feedforward algorithms that usually use an external model [14] or a reference signal correlated with the disturbance [15]. The classical form of internal model for periodic disturbances introduces poles on the stability boundary which can cause poor numerical properties and instability when implemented on an embedded system with finite precision arithmetic.…”

Section: Introductionmentioning

confidence: 99%

Adaptive rejection of periodic disturbances acting on linear systems with unknown dynamics

Shahsavari

Pan

Horowitz

2016

2016 IEEE 55th Conference on Decision and Control (CDC)

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Abstract-This paper proposes a novel direct adaptive control method for rejecting unknown deterministic disturbances and tracking unknown trajectories in systems with uncertain dynamics when the disturbances or trajectories are the summation of multiple sinusoids with known frequencies, such as periodic profiles or disturbances. The proposed algorithm does not require a model of the plant dynamics and does not use batches of measurements in the adaptation process. Moreover, it is applicable to both minimum and non-minimum phase plants. The algorithm is a "direct" adaptive method, in the sense that the identification of system parameters and the control design are performed simultaneously. In order to verify the effectiveness of the proposed method, an add-on controller is designed and implemented in the servo system of a hard disk drive to track unknown nano-scale periodic trajectories.

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Section: Introductionmentioning

confidence: 99%

Adaptive rejection of periodic disturbances acting on linear systems with unknown dynamics

Shahsavari

Pan

Horowitz

2016

2016 IEEE 55th Conference on Decision and Control (CDC)

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“…There are two broad classes of repetitive control: those using external models and those using internal models. The methods using external models include those based on basis functions (Hu and Tomizuka 1993) and disturbance observers (Tomizuka, Chew, and Yang 1990); as the name suggests, a model of the disturbance is used outside a feedback control loop. On the other hand, the internal model approach is explicitly related to the internal model principle (Francis and Wonham 1976) and includes a model of the disturbance within the feedback loop.…”

Section: Introductionmentioning

confidence: 99%

Switched linear model predictive controllers for periodic exogenous signals

Wang

Gawthrop

Owens

et al. 2010

International Journal of Control

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“…The parameters in the feedforward controller are updated online using the regulated error. Tomizuka et al [15] developed an adaptive regulator, where a stabilizing controller is computed first, then a model of the disturbance outside the feedback loop is used to estimate the values of the disturbance input. The latter are then used in a feedforward disturbance rejection algorithm to provide cancellation of the disturbance.…”

Section: Introductionmentioning

confidence: 99%

Adaptive regulation in bimodal linear systems

Amara

2009

Intl J Robust & Nonlinear

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SUMMARYThis paper considers an adaptive regulation problem for switched bimodal linear systems where it is desired to achieve regulation against unknown sinusoidal exogenous inputs representing disturbance or reference signals. Switching among plant models as well as among disturbance and reference signals is defined according to a performance variable. The design of the proposed adaptive regulators involves two main steps. First, a set of observer-based Q-parameterized stabilizing controllers for the switched system is constructed, and a sufficient regulation condition for the resulting switched closed-loop system is presented. Second, an adaptation algorithm is developed to tune the Q parameter in the expression of the parameterized controller and make it converge to the desired Q parameter that guarantees regulation for the switched system. The tuning of the Q parameter is performed to compensate for the lack of information on the properties of the sinusoidal exogenous inputs. Finally, a numerical example is presented to illustrate the effectiveness of the proposed method.

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Disturbance Rejection Through an External Model

Cited by 51 publications

References 0 publications

Adaptive rejection of periodic disturbances acting on linear systems with unknown dynamics

Adaptive rejection of periodic disturbances acting on linear systems with unknown dynamics

Switched linear model predictive controllers for periodic exogenous signals

Adaptive regulation in bimodal linear systems

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