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Title:	Hands-on course in networked control systems
Author:	Fuertes Armengol, José Mª; Villa Millaruelo, Ricardo; Ayza Graells, Jordi; Marès Martí, Pere; Martí Colom, Pau; Velasco García, Manel; Yepez, J.; Torres Guerrero, Gina; Perello, M.
Other authors:	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. GR-DCS - Sistemes Distribuïts de Control
Abstract:	In many industrial robotic applications there is a need to track periodic reference signals and/or reject periodic disturbances. This paper presents a novel repetitive control design for systems with constant time-delays in both forward and feedback control channels. An additional delay is introduced together with plant delays to construct an internal model for periodic signals, and a simple proportional control is utilized to stabilize the closed-loop system. Sufficient stability conditions of the closed-loop system and the robustness analysis under modeling uncertainties are studied. Experimental results are included to evaluate the validity and effectiveness of the proposed method.
Subject(s):	-Àrees temàtiques de la UPC::Informàtica::Automàtica i control -Automatic control -Control automàtic
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Document type:	Article - Published version Conference Object
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