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Systems with rotary elements are usually affected by periodic disturbances due to the movement of these parts (e.g. electrical machines, CD players). This kind of system is supposed to be moving, in some cases, at a fixed angular speed. Under these operating conditions any friction, unbalance or asymmetry appearing on the system generates a periodic disturbance that affects its dynamical behavior. In this context, RC has been shown as one of the most effective control strategies for these applications. Different test beds can be found in the literature which may be used to emulate pulsating periodic load or disturbance torques aimed at reproducing some particular real applications [4, 10]. In this chapter, an experimental plant intended for the educational purposes of analyzing and understanding the nature of the periodic disturbances as well as studying the different control techniques used to tackle this problem, has been adopted as experimental test bench for rotational machines.
KeywordsRobust Design Periodic Disturbance Harmonic Content Frequency Observer Repetitive Control
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