Multirate repetitive control for an industrial print-belt system

Leontine Aarnoudse*, Kevin Cox, Sjirk Koekebakker, Tom Oomen

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

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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.

Original languageEnglish
Article number103187
Number of pages10
JournalMechatronics
Volume100
DOIs
Publication statusPublished - 2024

Keywords

  • Mechatronic systems
  • Multirate control
  • Repetitive control

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