title: Repetitive control approach towards automatic tuning of Smith predictor controllers.
abstract: This paper proposes a new method for automatic tuning of the Smith predictor controller based on a Repetitive Control (RC) approach. The method requires the input of a periodic reference signal which can be derived from a relay feedback experiment. A modified repetitive control scheme repetitively changes the control signal to achieve tracking error convergence. Once a satisfactory performance is achieved through the learning control, the parameters of the Smith predictor controller can be computed from the signals using a nonlinear least squares algorithm. The same relay feedback experiment can provide an initial parameter vector for an efficient implementation of the parameter estimation. Simulations and experimental results will be furnished to illustrate the effectiveness of the proposed tuning method.
authors.affiliation: Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, Singapore 117576, Singapore. eletankk@nus.edu.sg
authors.forename: Kok Kiong
authors.initials: KK
authors.lastname: Tan
authors.forename: Kok Yong
authors.initials: KY
authors.lastname: Chua
authors.forename: Shao
authors.initials: S
authors.lastname: Zhao
authors.forename: Su
authors.initials: S
authors.lastname: Yang
authors.forename: Ming Tan
authors.initials: MT
authors.lastname: Tham