Robust guaranteed cost ILC with dynamic feedforward and disturbance compensation for accurate PMSM position control

This contribution presents a robust ILC control design based on guaranteed costs. By combining this ILC design with dynamic feedforward control and an observer-based disturbance compensation, the initial tracking errors in an early learning stage can be reduced. The benefits of the proposed design a...

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Bibliographic Details
Published inControl engineering practice Vol. 65; pp. 36 - 47
Main Authors Mandra, Slawomir, Galkowski, Krzysztof, Aschemann, Harald
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.08.2017
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ISSN0967-0661
1873-6939
DOI10.1016/j.conengprac.2017.05.004

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Summary:This contribution presents a robust ILC control design based on guaranteed costs. By combining this ILC design with dynamic feedforward control and an observer-based disturbance compensation, the initial tracking errors in an early learning stage can be reduced. The benefits of the proposed design approach are pointed out at the example of a robust position control of a Permanent Magnet Synchronous Motor (PMSM), which is subject to uncertain model parameters. The paper is concluded with convincing experimental results from a dedicated test rig. Moreover, a comparison with a classical observer-based tracking control is provided. •ILC based on a linear repetitive process using guaranteed cost control.•Robustness by LMI techniques within a polytopic framework.•Innovative combination of ILC with dynamic feedforward and disturbance estimation.•Maximum and RMS tracking errors in early learning phases are significantly reduced.•Application to the accurate position control of PMSMs with successful validation.
ISSN:0967-0661
1873-6939
DOI:10.1016/j.conengprac.2017.05.004