On Equivalence Between Internal and External Model-Based Repetitive Learning Controllers for Nonlinear Passive Systems (CROSBI ID 164001)
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Kasać, Josip ; Novaković, Branko ; Milić, Vladimir
engleski
On Equivalence Between Internal and External Model-Based Repetitive Learning Controllers for Nonlinear Passive Systems
In this paper a new class of globally stable finite dimensional repetitive controllers for nonlinear passive systems is proposed. The proposed internal model-based repetitive controller has a structure in the form of a parallel connection of linear oscillators and one integrator. The passive interconnection of the controller and the nonlinear passive systems provides the same stability conditions as the controller with the exact feed-forward compensation of system dynamics. The existing internal and external model-based repetitive controllers can be derived as the special cases of the proposed controller.
repetitive learning control; passive systems; passivity based control
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