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Robustness study of repetitive control systems: application to a flexible joint robot

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4 Author(s)
Saari, H. ; LAMII-CESALP, Univ. de Savoie, France ; Tadjine, M. ; Caron, B. ; Mouille, P.

This paper deals with discrete time robust repetitive control systems. The paper is divided in two parts. The first part is devoted to the repetitive control design. In the second part, a robustness analysis of repetitive control in presence of plant mismatch is introduced. Sufficient conditions to ensure repetitive control convergence are derived.

Published in:

Control '96, UKACC International Conference on (Conf. Publ. No. 427)  (Volume:2 )

Date of Conference:

2-5 Sept. 1996