Intermittent Sampling in Repetitive Control

Exploiting Time-Varying Measurements

Conference paper (2021)

Authors

Johan Kon Eindhoven University of Technology
Nard Strijbosch Eindhoven University of Technology
Sjirk Koekebakker Eindhoven University of Technology
T.A.E. Oomen Team Jan-Willem van Wingerden - Mechanical, Maritime and Materials Engineering
Tom Oomen Team Jan-Willem van Wingerden - Mechanical, Maritime and Materials Engineering
Research Group
Team Jan-Willem van Wingerden (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2021 Johan Kon, Nard Strijbosch, Sjirk Koekebakker, T.A.E. Oomen
DOI: https://doi.org/10.1109/CDC45484.2021.9683755
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Published Date

2021

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Jan-Willem van Wingerden

Abstract

The performance increase up to the sensor resolution in repetitive control (RC) invalidates the standard assumption in RC that data is available at equidistant time instances, e.g., in systems with package loss or when exploiting timestamped data from optical encoders. The aim of this paper is to develop an intermittent sampling RC framework for non-equidistant measurements. Sufficient stability conditions are derived that can be verified using non-parametric frequency response function data. This results in a frequency domain design procedure to explicitly address uncertainty. The RC framework is validated on an industrial printbelt setup for which exact non-equidistant measurement data is available.

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