Improved repetitive control scheme and its application to a 1DOF lagrangian system

Palmi, Devis (2019) Improved repetitive control scheme and its application to a 1DOF lagrangian system. [Laurea magistrale], Università di Bologna, Corso di Studio in Automation engineering / ingegneria dell’automazione [LM-DM270], Documento full-text non disponibile
Il full-text non è disponibile per scelta dell'autore. (Contatta l'autore)


The aim of this thesis work is the developement of a new and more flexible implementation scheme of the well-known repetitive control (RC). Different innovative repetitive control schemes have been implemented in Simulink (introducing some signal elaboration such as a linear interpolation) and then simulated on a simple “pure delay” discrete-time system with no synchronization, and on a more complex and realistic 1DOF lagrangian system representing the four-bar linkage of the ACMEC project on which the repetitive control will be tested in practice. A comparison between the standard schemes and the developed one is carried out and the differences are highlighted. In particular it is shown that the new implementations allows to work significantly better (lower residual error and faster transient) with respect to the classical schemes, in case of error period not multiple of the sampling time of the control. More than that they are easier to implement on digital platforms since the memory required is chosen independently from the error period (so from the machine speed) and from the sampling frequency of the control.

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Palmi, Devis
Relatore della tesi
Correlatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
Repetitive control,linear interpolation,acmec
Data di discussione della Tesi
23 Luglio 2019

Altri metadati

Gestione del documento: Visualizza il documento