Robustness study of repetitive control systems: application to a flexible joint robot
Robustness study of repetitive control systems: application to a flexible joint robot
- Author(s): H. Saari ; M. Tadjine ; B. Caron ; P. Mouille
- DOI: 10.1049/cp:19960672
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- Author(s): H. Saari ; M. Tadjine ; B. Caron ; P. Mouille Source: UKACC International Conference on Control. Control '96, 1996 p. 899 – 904
- Conference: UKACC International Conference on Control. Control '96
- DOI: 10.1049/cp:19960672
- ISBN: 0 85296 666 0
- Location: Exeter, UK
- Conference date: 2-5 Sept. 1996
- Format: PDF
This paper deals with discrete time robust repetitive control systems. The paper is divided in two parts. The first part is devoted to the repetitive control design. In the second part, a robustness analysis of repetitive control in presence of plant mismatch is introduced. Sufficient conditions to ensure repetitive control convergence are derived.
Inspec keywords: robust control; robots; discrete time systems
Subjects: Stability in control theory; Robotics; Discrete control systems
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