Design of General Parametric Repetitive Control Using IIR Filter With Application to Piezo-Actuated Nanopositioning Stages

Abstract

The achievable performance with repetitive control is limited due to its inherent sensitivity to the frequency shift away from the intended periodic frequencies and the undesired gain amplification of the aperiodic disturbances. To address these limitations, the paper proposed a general parametric repetitive control (GPRC) method based on the IIR filter with the features of low-order and excellent magnitude responses to result in better tracking performance in diverse applications. By analyzing its sensitivity function, it is found that the design of GPRC can be converted to the explicit parametric design of an IIR high pass filter. The controller design process and the stability analysis are presented in detail. To show the effectiveness of GPRC, comparative experiments are conducted via tracking sinusoids, triangular trajectories and other complex trajectories with multi-frequency components. The experimental results show that, in contrast with the conventional repetitive control (CRC) and a modified repetitive control (MRC), the GPRC exhibits excellent robustness against the frequency shift and advanced performance at the aperiodic frequencies. The tracking results of the sinusoids show that the maximum tracking error obtained with GPRC for a frequency shift of 3 Hz decreases from 0.0259 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\mu m$</tex-math> </inline-formula> (CRC) and 0.2207 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\mu m$</tex-math> </inline-formula> (MRC) to 0.0101 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\mu m$</tex-math> </inline-formula> at the nominal frequency of 1000 Hz, demonstrating the merits of the proposed GPRC. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —To enable automation systems, one of the crucial requirements is to track repetitive references with high precision. Although the normal repetitive control (RC) based schemes are successfully applied to improve the tracking accuracy of periodic trajectories, the existing RC schemes suffer from the problems of lower robustness against frequency shift and the unwanted gain amplification at the aperiodic frequencies due to Bode’s sensitivity integral. To overcome this problem, this paper proposes a novel general parametric repetitive control (GPRC) method via characterizing the loop properties quantitatively based on the IIR high pass filter design. Focusing on specific issues, the detailed variations to handle the errors at only the odd-and even-harmonics are also demonstrated. This framework leads to a flexible solution in practical implementations. The experimental validation on a piezo-actuated nanopositioning stage is comparatively presented in terms of tracking accuracy and rejection ability of the gain amplification at the aperiodic frequencies. With its flexibility and effectiveness, the proposed GPRC can be easily implemented in diverse applications.