Intermittent Sampling in Repetitive Control: Exploiting Time-Varying Measurements

Johan Kon, Nard Strijbosch, Sjirk Koekebakker, T.A.E. Oomen

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review


The performance increase up to the sensor resolution in repetitive control (RC) invalidates the standard assumption in RC that data is available at equidistant time instances, e.g., in systems with package loss or when exploiting timestamped data from optical encoders. The aim of this paper is to develop an intermittent sampling RC framework for non-equidistant measurements. Sufficient stability conditions are derived that can be verified using non-parametric frequency response function data. This results in a frequency domain design procedure to explicitly address uncertainty. The RC framework is validated on an industrial printbelt setup for which exact non-equidistant measurement data is available.
Original languageEnglish
Title of host publicationProceedings of the 60th IEEE Conference on Decision and Control (CDC 2021)
ISBN (Print)978-1-6654-3659-5
Publication statusPublished - 2021
Event60th IEEE Conference on Decision and Control (CDC 2021) - Austin, United States
Duration: 14 Dec 202117 Dec 2021


Conference60th IEEE Conference on Decision and Control (CDC 2021)
Country/TerritoryUnited States

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


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