ABSTRACT

This chapter discusses repetitive control algorithm using the framework of a discrete-time model predictive control. It examines disturbance model is formulated and embedded into a state-space model. The chapter explores discrete-time model predictive control framework based on the Laguerre functions is used to develop the repetitive control law, with which constraints are imposed. It provides simulation results from application to a gantry robot. Control system applications in, for example, mechanical systems, manufacturing systems, and aerospace systems often require set-point following of a periodic trajectory. Instead of retaining all the periodic modes in the periodic control system, an alternative is to embed fewer periodic modes at a given time, and when the frequency of the external signal changes, the coefficients of the controller change accordingly. The chapter considers the design algorithm developed to the approximate model of one axis of a gantry robot undertaking a pick-and-place operation that mimics many industrial tasks where control is required.