Gaussian process repetitive control: beyond periodic internal models through kernels
article
Repetitive control enables the exact compensation of periodic disturbances if the internal model is appropriately selected. The aim of this paper is to develop a novel synthesis technique for repetitive control (RC) based on a new more general internal model. By employing a Gaussian process internal model, asymptotic rejection is obtained for a wide range of disturbances through an appropriate selection of a kernel. The implementation is a simple linear time-invariant (LTI) filter that is automatically synthesized through this kernel. The result is a user-friendly design approach based on a limited number of intuitive design variables, such as smoothness and periodicity. The approach naturally extends to reject multi-period and non-periodic disturbances, exiting approaches are recovered as special cases, and a case study shows that it outperforms traditional RC in both convergence speed and steady-state error.
TNO Identifier
967453
ISSN
00051098
Source
Automatica, 140
Publisher
Elsevier
Article nr.
110273
Collation
13 p.
Place of publication
Amsterdam
Files
To receive the publication files, please send an e-mail request to TNO Repository.