|Super Twisting Observer based Repetitive Control for Aperiodic Disturbance Rejection in a Brushless DC Servo Motor
Raymond Chuei*, Zhenwei Cao, and Zhihong Man
International Journal of Control, Automation, and Systems, vol. 15, no. 5, pp.2063-2071, 2017
Abstract : "This paper presents a super twisting observer based repetitive control (STORC), which can not only
track the periodic signals precisely, but also reject aperiodic disturbances. Firstly, a stable repetitive control (RC) is
designed based on the small gain theorem to track the periodic references, and compensate the periodic disturbances.
Secondly, a robust exact differentiator is employed to estimate the velocity required by the disturbance observer.
Finally, the super twisting observer (STO) is constructed to reject aperiodic disturbances, and input unmatched
periodic disturbances with reduced chattering. The stability analysis is conducted and the design conditions are
derived for a stable system. The proposed algorithm is simulated in MATLAB Simulink, and verified on a brushless
DC servo motor in real time to demonstrate the effectiveness. The comparison studies highlight the advantages of
the proposed algorithm."
Disturbance observer, periodic reference, repetitive control, super twisting observer.