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Parameter Space Design of Repetitive Controllers for Satisfying a Mixed Sensitivity Performance Requirement

A parameter space procedure for designing chosen parameters of a repetitive controller to satisfy a mixed sensitivity performance criterion is presented in this work. Using the method of this work, low order and physically meaningful robust repetitive controllers can be designed and implemented for plants that possibly include a time delay, poles on the imaginary axis and for discontinuous weights. The design method is based on mapping a frequency domain mixed sensitivity bound into the chosen repetitive controller parameter plane. A design and simulation study based on a high speed AFM-stage (atomic force microscope) position control example is utilized to illustrate the method presented in this work.

Type of Seminar:
IfA Seminar
Burak Demirel
AUTOCOM Research Center, Istanbul Technical University , Turkey
Jan 29, 2009   14:00 /

ETL K 25
Contact Person:

Akin Sahin
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Biographical Sketch:
Burak Demirel received his B.Sc. degree in Mechanical Engineering (2007) and Control Engineering (2009) from Istanbul Technical University, Turkey. He is now a M.Sc. student at Mechatronics Engineering in Istanbul Technical University, Turkey. Since August 2006, he has been affiliated with Mechatronics Researches (MEKAR) Laboratory and Automotive Controls and Mechtaroncis (AUTOCOM) Research Center and working under the supervision of Prof. Dr. Levent Güvenç. His research interest includes robust control, optimal control, optimization and compliant mechanism design. Currently, he is working on the Repetitive Control Systems and their Applications.