标题：A discrete time-varying internal model based approach for high precision tracking
作者：Zhang, Zhen; Lu, Chao; Leng, Tongtong; Yan, Peng; Ye, Peiqing
作者机构：[Zhang, Zhen; Lu, Chao; Ye, Peiqing] Tsinghua Univ, Dept Mech Engn, Beijing 100084, Peoples R China.; [Zhang, Zhen] Tsinghua Univ, Dept Engn Mech, B 更多
会议名称：European Control Conference (ECC)
会议日期：JUL 17-19, 2013
来源：2013 EUROPEAN CONTROL CONFERENCE (ECC)
摘要：In this paper, we consider the discrete time case of a time-varying internal model-based control design for high precision tracking of frequency-varying reference trajectories. Thanks to a recently proposed parallel time-varying internal model structure, the asymptotic tracking conditions for the design of internal model units are developed, and a low order robust stabilizer is synthesized. In a discrete time setting, the high precision tracking control architecture is deployed on a Voice Coil Motor (VCM) actuated servo gantry system, where numerical simulation and real time experimental results are given to validate the proposed method.