This paper describes a multirate repetitive learning controller with an adjustable sampling rate that may be used as an “add-on” module to enhance the tracking performance of a feedback control system. The sampling rate of the multirate controller is slower than the remainder of the control system, and is selected by the user to achieve the required system performance based on a trade-off between the accuracy and the complexity of the controller. The multirate controller learns the system control input based on the tracking error down-sampled using a weighted averaging filter. The output of the multirate controller is up-sampled through an arbitrary hold mechanism determined by the user. This paper extends the existing stability results for single-rate repetitive learning controllers to the proposed multirate scheme. It provides an explicit procedure for its design and stability analysis. In addition, the proposed multirate repetitive learning controller is implemented on a mechanical system performing a non-colocated control task, where its effectiveness in reducing tracking errors while following periodic reference trajectories is shown experimentally.
Skip Nav Destination
Article navigation
December 2002
Technical Papers
Synthesis, Stability Analysis, and Experimental Implementation of a Multirate Repetitive Learning Controller
Nader Sadegh,
Nader Sadegh
School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332
Search for other works by this author on:
Ai-Ping Hu,
Ai-Ping Hu
CAMotion, Inc., 430 Tenth Street, Suite S009, Atlanta, GA 30318
Search for other works by this author on:
Courtney James
Courtney James
XEROX Corp., J.C. Wilson Center for Research and Technology, 800 Phillips Road, M/S 147-11B, Webster, NY 14580
Search for other works by this author on:
Nader Sadegh
School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332
Ai-Ping Hu
CAMotion, Inc., 430 Tenth Street, Suite S009, Atlanta, GA 30318
Courtney James
XEROX Corp., J.C. Wilson Center for Research and Technology, 800 Phillips Road, M/S 147-11B, Webster, NY 14580
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, March 2001; final revision, May 2002. Associate Editor: P. Voulgaris.
J. Dyn. Sys., Meas., Control. Dec 2002, 124(4): 668-674 (7 pages)
Published Online: December 16, 2002
Article history
Received:
March 1, 2001
Revised:
May 1, 2002
Online:
December 16, 2002
Citation
Sadegh, N., Hu, A., and James, C. (December 16, 2002). "Synthesis, Stability Analysis, and Experimental Implementation of a Multirate Repetitive Learning Controller ." ASME. J. Dyn. Sys., Meas., Control. December 2002; 124(4): 668–674. https://doi.org/10.1115/1.1514060
Download citation file:
Get Email Alerts
Offline and Online Exergy-Based Strategies for Hybrid Electric Vehicles
J. Dyn. Sys., Meas., Control (May 2025)
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control
A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear Model Predictive Control Approach
J. Dyn. Sys., Meas., Control (May 2025)
Active Data-Enabled Robot Learning of Elastic Workpiece Interactions
J. Dyn. Sys., Meas., Control (May 2025)
Related Articles
Designing Robust Repetitive Controllers
J. Dyn. Sys., Meas., Control (December,2004)
Quadratic Optimality of the Zero-Phase Repetitive Control
J. Dyn. Sys., Meas., Control (September,2001)
Active Noise Hybrid Feedforward/Feedback Control Using Neural Network Compensation
J. Vib. Acoust (January,2002)
On the Practical Stability of Incorporating Integral Compensation Into the Low-and-High Gain Control for a Class of Systems With Norm-Type Input Saturation
J. Dyn. Sys., Meas., Control (May,2008)
Related Proceedings Papers
Related Chapters
Stability Analysis of a Partially Connected Feedback Neural Network
International Conference on Computer Engineering and Technology, 3rd (ICCET 2011)
Auto-Tuning Method of PIDA Controller Based Ongain Margin and Phase Margin
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
Graphical Methods for Control Systems
Introduction to Dynamics and Control in Mechanical Engineering Systems