Predictive extended state observer-based repetitive controller for uncertain systems with input delay. (2nd January 2022)

• Record Type: Journal Article
• Authors: Artheec Kumar, V.; Cao, Zhenwei; Man, Zhihong; Chuei, Raymond; Bombuwela, Don
• Is Part Of: Automatika. Volume 63:Number 1(2022)
• Page Start: 122
• Page End: 131
• Publication Date: 2022-01-02
• Subjects: Extended state observer -- repetitive control -- time delay systems -- Smith predictor -- robust control; Automatic control -- Periodicals; 629.805
• DOI: 10.1080/00051144.2021.2011686
• Languages: English
• ISSNs: 0005-1144

Abstract

Abstract : This article presents a predictive extended state observer-based repetitive controller (PESO-RC) to simultaneously track and reject periodic signals on systems with long input delay and parameter uncertainties. First, a novel extended state observer (ESO) is proposed to tackle periodic signals on processes with input delay. Then a simple low pass filter is incorporated and tuned to improve robustness against modelling errors. Moreover, the modified repetitive controller (MRC) is integrated to enhance the performance when compensating periodic signals without affecting the overall system's stability. Stability criteria and robust stability analysis under modelling errors are studied to develop tuning guidelines. Furthermore, validation of the proposed controller and comparison studies are simulated in MATLAB and tested on a brushless DC servo motor which highlight the superior performance of PESO-RC.