On Comparison Between Repetitive Controller and PI Controller Tracking Performance
Abstract: Tracking periodic
signals are common task in many control problems. One of the examples is
movement control of pick and place
robot in industry.
The requirement of
high tracking accuracy
becomes very important
in many applications. Therefore,
a sophisticated control algorithm that manages to achieve high accuracy tracking
of periodic command is required. Repetitive Control (RC) based on internal
model principle is one of control
schemes that can be employed to achieve perfect tracking of periodic signal. On
the other hand, Proportional Integral (PI) controller can also be used for
tracking. This paper compares the tracking performance of PI controller, RC, and PI with RC, where PI
with RC here is integration between PI controller and RC. Step by step design
to obtain the parameters of PI, RC and PI with RC are given. A simulation on
servo motor system is carried out to assess the performance of RC, PI, and PI with
RC respectively. From
the simulation results,
the transient response
and tracking accuracy
are thoroughly discussed.
Author: Edi Kurniawan
Journal Code: jptinformatikagg140006
