On equivalence between internal and external model-based repetitive learning controllers for nonlinear passive systems

Kasać, Josip and Novaković, Branko and Milić, Vladimir (2011) On equivalence between internal and external model-based repetitive learning controllers for nonlinear passive systems. = On equivalence between internal and external model-based repetitive learning controllers for nonlinear passive systems. Asian Journal of Control, 13 (1). pp. 15-24. ISSN 1561-8625. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. Kvartili JCR: Q2 (2011). Točan broj autora: 3.

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Abstract

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.

Item Type:	Article (["eprint_fieldopt_article_type_article" not defined])
Keywords (Croatian):	feed-forward compensation; finite dimensional; internal models; learning controllers; linear oscillator; model-based; parallel connections; passive systems; passivity based control; repetitive controller; repetitive learning control; stability condition; system dynamics; electric connectors; learning algorithms; nonlinear systems; passivation; controllers
Subjects:	TECHNICAL SCIENCE
Divisions:	900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science:	Yes
Indexed in Current Contents:	Yes
Quartiles:	Q2 (2011)
Date Deposited:	17 Apr 2015 11:29
Last Modified:	12 Dec 2018 09:43
URI:	http://repozitorij.fsb.hr/id/eprint/3844

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