Multivariable Repetitive-Predictive Controllers Using Frequency Decomposition


Repetitive management may be a methodology for the tracking of a periodic reference signal. This paper develops a new approach to repetitive management systems design using receding horizon control with frequency decomposition of the reference signal. Moreover, design and implementation issues for this kind of repetitive predictive management are investigated from the views of controller complexity and the effects of measurement noise. The analysis is supported by a simulation study on a multi-input multi-output robot arm where the model has been constructed from measured frequency response data, and experimental results from application to an industrial AC motor.

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