To DC motor drive speed regulation in a
flatbed scanner to reject the motor cogging
torque. A discrete time prototype repetitive
controller. Was designed and integrated into an existing feedback
loop using the plug-in concept to reject the periodic
cogging torque. Under a constant reference speed. System
identification was conducted to obtain the repetitive control
plant model.With the augmented, repetitive controller the
periodic speed error was attenuated by approximately 75%.
Also a robustness,, Criterion was developed to guarantee successful
implementation on real systems.
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