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On equivalence between internal and external model‐based repetitive learning controllers for nonlinear passive systems
Author(s) -
Kasac J.,
Novakovic B.,
Milic V.
Publication year - 2011
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.273
Subject(s) - control theory (sociology) , internal model , repetitive control , nonlinear system , integrator , controller (irrigation) , equivalence (formal languages) , control engineering , compensation (psychology) , interconnection , computer science , engineering , control system , control (management) , mathematics , bandwidth (computing) , artificial intelligence , telecommunications , psychology , agronomy , physics , discrete mathematics , quantum mechanics , psychoanalysis , electrical engineering , biology
In this paper a new class of globally stable finite dimensional repetitive controllers for nonlinear passive systems is proposed. The proposed internal model‐based repetitive controller has a structure in the form of a parallel connection of linear oscillators and one integrator. The passive interconnection of the controller and the nonlinear passive systems provides the same stability conditions as the controller with the exact feed‐forward compensation of system dynamics. The existing internal and external model‐based repetitive controllers can be derived as the special cases of the proposed controller. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society