title: Generalized proportional integral control for periodic signals under active disturbance rejection approach.
abstract: Conventional repetitive control has proven to be an effective strategy to reject/track periodic signals with constant frequency; however, it shows poor performance in varying frequency applications. This paper proposes an active disturbance rejection methodology applied to a large class of uncertain flat systems for the tracking and rejection of periodic signals, in which the possibilities of the generalized proportional integral (GPI) observer-based control to address repetitive control problems are studied. In the proposed scheme, model uncertainties and external disturbances are lumped together in a general additive disturbance input that is estimated and rejected on-line. An illustrative case study of mechatronic nature is considered. Experimental results show that the proposed GPI observer-based control successfully rejects periodic disturbances even under varying speed conditions.
authors.affiliation: Universidad Nacional de Colombia, Facultad de Ingeniería, Departamento de Ingeniería Eléctrica y Electrónica, Bogotá D.C., Colombia. Electronic address: jacortesr@unal.edu.co.
authors.forename: John
authors.initials: J
authors.lastname: Cortés-Romero
authors.affiliation: Universidad Nacional de Colombia, Facultad de Ingeniería, Departamento de Ingeniería Eléctrica y Electrónica, Bogotá D.C., Colombia. Electronic address: garamosf@unal.edu.co.
authors.forename: Germán A
authors.initials: GA
authors.lastname: Ramos
authors.affiliation: Universidad Nacional de Colombia, Facultad de Ingeniería, Departamento de Ingeniería Eléctrica y Electrónica, Bogotá D.C., Colombia. Electronic address: hacorale@unal.edu.co.
authors.forename: Horacio
authors.initials: H
authors.lastname: Coral-Enriquez
keywords: Active disturbance rejection control; Disturbance observers; GPI control; Periodic disturbances; Repetitive control