{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/83994"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/83994","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Robust Repetitive Control and Its Application","abstract":"Both OPRRC and TPRRC are successfully applied to an electrohydraulic actuator for non-circular machining of camshaft to show their effectiveness. A dual stage actuator using an electrohydraulic actuator and a piezoelectric actuator is developed to further reduce cam profile tracking errors. The design, modeling, analysis and preliminary control design of the dual stage actuator are presented. The experimental results are also presented to demonstrate the effectiveness of dual stage actuator. Finally, TPRRC is also applied to a disk drive read-write head following tracking servo control problem to reject both repeatable runout (RRO) and non-repeatable runout (NRRO) simultaneously. Simulation results show that the position error signal (PES) of a disk drive is reduced by three folds. The initial response of the TPRRC as well as most other repetitive control systems typically takes one period (of the periodic exogenous signal) to converge. A feedforward control is proposed and shown to increase the transient convergence rate for the TPRRC when switching from one data track to another.","abstract_html":"Both OPRRC and TPRRC are successfully applied to an electrohydraulic actuator for non-circular machining of camshaft to show their effectiveness. A dual stage actuator using an electrohydraulic actuator and a piezoelectric actuator is developed to further reduce cam profile tracking errors. The design, modeling, analysis and preliminary control design of the dual stage actuator are presented. The experimental results are also presented to demonstrate the effectiveness of dual stage actuator. Finally, TPRRC is also applied to a disk drive read-write head following tracking servo control problem to reject both repeatable runout (RRO) and non-repeatable runout (NRRO) simultaneously. Simulation results show that the position error signal (PES) of a disk drive is reduced by three folds. The initial response of the TPRRC as well as most other repetitive control systems typically takes one period (of the periodic exogenous signal) to converge. A feedforward control is proposed and shown to increase the transient convergence rate for the TPRRC when switching from one data track to another.","abstract_has_math":false,"creators":["Li, Jianwu"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Tsao, Tsu-Chin"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2015,"date_issued":"2015-09-25T21:13:03Z","date_published":"2015-09-25T21:13:03Z","updated_at":"2026-07-22T22:26:22Z","subjects":["Engineering, System Science"],"languages":["eng"],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["(MiAaPQ)AAI9953079"],"render_values":[{"text":"(MiAaPQ)AAI9953079","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/2142/83994","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Tsao, Tsu-Chin"]},{"key":"dc:creator","label":"Author","values":["Li, Jianwu"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2015-09-25T21:13:03Z","10000-01-01","1999"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Engineering, System Science"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/83994","(MiAaPQ)AAI9953079"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Both OPRRC and TPRRC are successfully applied to an electrohydraulic actuator for non-circular machining of camshaft to show their effectiveness. A dual stage actuator using an electrohydraulic actuator and a piezoelectric actuator is developed to further reduce cam profile tracking errors. The design, modeling, analysis and preliminary control design of the dual stage actuator are presented. The experimental results are also presented to demonstrate the effectiveness of dual stage actuator. Finally, TPRRC is also applied to a disk drive read-write head following tracking servo control problem to reject both repeatable runout (RRO) and non-repeatable runout (NRRO) simultaneously. Simulation results show that the position error signal (PES) of a disk drive is reduced by three folds. The initial response of the TPRRC as well as most other repetitive control systems typically takes one period (of the periodic exogenous signal) to converge. A feedforward control is proposed and shown to increase the transient convergence rate for the TPRRC when switching from one data track to another.","Made available in DSpace on 2015-09-25T21:13:03Z (GMT). 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A dual stage actuator using an electrohydraulic actuator and a piezoelectric actuator is developed to further reduce cam profile tracking errors. The design, modeling, analysis and preliminary control design of the dual stage actuator are presented. The experimental results are also presented to demonstrate the effectiveness of dual stage actuator. Finally, TPRRC is also applied to a disk drive read-write head following tracking servo control problem to reject both repeatable runout (RRO) and non-repeatable runout (NRRO) simultaneously. Simulation results show that the position error signal (PES) of a disk drive is reduced by three folds. The initial response of the TPRRC as well as most other repetitive control systems typically takes one period (of the periodic exogenous signal) to converge. 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