Odd-Harmonic High Order Repetitive Control
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HORC is mainly used to improve the repetitive control performance robustness under disturbance/reference signals with varying or uncertain frequency. Unlike standard repetitive control, the HORC involves a weighted sum of several signal periods. With a proper selection of the associated weights, this high order function offers a characteristic frequency response in which the high gain peaks located at harmonic frequencies are extended to a wider region around the harmonics. Furthermore, the use of an odd-harmonic internal model will make the system more appropriate for applications where signals have only odd-harmonic components, as in power electronics systems. This Chapter presents an Odd-harmonic High Order Repetitive Controller suitable for applications involving odd-harmonic type signals with varying/uncertain frequency. The open loop stability of internal models used in HORC and the one presented here is analysed. Additionally, as a consequence of this analysis, an anti-windup scheme for repetitive control is proposed.
KeywordsUnit Circle Nyquist Plot Internal Model Harmonic Frequency Iterative Learn Control
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