标题：Discrete time-varying internal model-based tracking of a servo gantry system with frequency-varying references
作者：Zhang, Zhen ;Yang, Xiaodong ;Chen, Han ;Yan, Peng
作者机构：[Zhang, Zhen ] State Key Laboratory of Tribology, Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, C 更多
会议名称：12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2016
会议日期：29 August 2016 through 31 August 2016
来源：MESA 2016 - 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Conference Proceedings
摘要：This paper presents a discrete time internal model-based tracking control for a class of nonlinear systems driven by frequency-varying references. It is shown that if the error-zeroing input is polynomial of exosystem state, a linear time-varying internal model can be utilized to generate higher order modes of the exosystem. The proposed control design is applied to a high precision servo gantry system to track frequency-varying references. A numerous experiments are conducted to demonstrate the significant improvement of the tracking performance with higher order internal model. © 2016 IEEE.