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Fig. 9. Chopping timeline related to hybrid <t>controller</t> (first repetition only). The step (red curve) is performed applying FF only (u j). During the observation periods (blue curve) the hybrid controller is active (v). The reset and memory actions are visualized by the arrows. The control states related to the internal model (ξim) are reset at time t2 to the corresponding values at t1. These states are applied as initial condition during the next repetition at the same observation position. (The same applies to the second observation position). We remark that for square wave chopping the internal model consists of a simple integrator and resetting of the control states is actually not required (Me−1 = I). The reset action in the figure illustrates the more general case when richer exosystem dynamics (described by ϒ) are considered.
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Fig. 9. Chopping timeline related to hybrid <t>controller</t> (first repetition only). The step (red curve) is performed applying FF only (u j). During the observation periods (blue curve) the hybrid controller is active (v). The reset and memory actions are visualized by the arrows. The control states related to the internal model (ξim) are reset at time t2 to the corresponding values at t1. These states are applied as initial condition during the next repetition at the same observation position. (The same applies to the second observation position). We remark that for square wave chopping the internal model consists of a simple integrator and resetting of the control states is actually not required (Me−1 = I). The reset action in the figure illustrates the more general case when richer exosystem dynamics (described by ϒ) are considered.
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Fig. 9. Chopping timeline related to hybrid <t>controller</t> (first repetition only). The step (red curve) is performed applying FF only (u j). During the observation periods (blue curve) the hybrid controller is active (v). The reset and memory actions are visualized by the arrows. The control states related to the internal model (ξim) are reset at time t2 to the corresponding values at t1. These states are applied as initial condition during the next repetition at the same observation position. (The same applies to the second observation position). We remark that for square wave chopping the internal model consists of a simple integrator and resetting of the control states is actually not required (Me−1 = I). The reset action in the figure illustrates the more general case when richer exosystem dynamics (described by ϒ) are considered.
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Fig. 9. Chopping timeline related to hybrid <t>controller</t> (first repetition only). The step (red curve) is performed applying FF only (u j). During the observation periods (blue curve) the hybrid controller is active (v). The reset and memory actions are visualized by the arrows. The control states related to the internal model (ξim) are reset at time t2 to the corresponding values at t1. These states are applied as initial condition during the next repetition at the same observation position. (The same applies to the second observation position). We remark that for square wave chopping the internal model consists of a simple integrator and resetting of the control states is actually not required (Me−1 = I). The reset action in the figure illustrates the more general case when richer exosystem dynamics (described by ϒ) are considered.
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Fig. 9. Chopping timeline related to hybrid <t>controller</t> (first repetition only). The step (red curve) is performed applying FF only (u j). During the observation periods (blue curve) the hybrid controller is active (v). The reset and memory actions are visualized by the arrows. The control states related to the internal model (ξim) are reset at time t2 to the corresponding values at t1. These states are applied as initial condition during the next repetition at the same observation position. (The same applies to the second observation position). We remark that for square wave chopping the internal model consists of a simple integrator and resetting of the control states is actually not required (Me−1 = I). The reset action in the figure illustrates the more general case when richer exosystem dynamics (described by ϒ) are considered.
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Fig. 9. Chopping timeline related to hybrid <t>controller</t> (first repetition only). The step (red curve) is performed applying FF only (u j). During the observation periods (blue curve) the hybrid controller is active (v). The reset and memory actions are visualized by the arrows. The control states related to the internal model (ξim) are reset at time t2 to the corresponding values at t1. These states are applied as initial condition during the next repetition at the same observation position. (The same applies to the second observation position). We remark that for square wave chopping the internal model consists of a simple integrator and resetting of the control states is actually not required (Me−1 = I). The reset action in the figure illustrates the more general case when richer exosystem dynamics (described by ϒ) are considered.
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Fig. 9. Chopping timeline related to hybrid <t>controller</t> (first repetition only). The step (red curve) is performed applying FF only (u j). During the observation periods (blue curve) the hybrid controller is active (v). The reset and memory actions are visualized by the arrows. The control states related to the internal model (ξim) are reset at time t2 to the corresponding values at t1. These states are applied as initial condition during the next repetition at the same observation position. (The same applies to the second observation position). We remark that for square wave chopping the internal model consists of a simple integrator and resetting of the control states is actually not required (Me−1 = I). The reset action in the figure illustrates the more general case when richer exosystem dynamics (described by ϒ) are considered.
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Fig. 9. Chopping timeline related to hybrid <t>controller</t> (first repetition only). The step (red curve) is performed applying FF only (u j). During the observation periods (blue curve) the hybrid controller is active (v). The reset and memory actions are visualized by the arrows. The control states related to the internal model (ξim) are reset at time t2 to the corresponding values at t1. These states are applied as initial condition during the next repetition at the same observation position. (The same applies to the second observation position). We remark that for square wave chopping the internal model consists of a simple integrator and resetting of the control states is actually not required (Me−1 = I). The reset action in the figure illustrates the more general case when richer exosystem dynamics (described by ϒ) are considered.
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Fig. 9. Chopping timeline related to hybrid <t>controller</t> (first repetition only). The step (red curve) is performed applying FF only (u j). During the observation periods (blue curve) the hybrid controller is active (v). The reset and memory actions are visualized by the arrows. The control states related to the internal model (ξim) are reset at time t2 to the corresponding values at t1. These states are applied as initial condition during the next repetition at the same observation position. (The same applies to the second observation position). We remark that for square wave chopping the internal model consists of a simple integrator and resetting of the control states is actually not required (Me−1 = I). The reset action in the figure illustrates the more general case when richer exosystem dynamics (described by ϒ) are considered.
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Fig. 9. Chopping timeline related to hybrid <t>controller</t> (first repetition only). The step (red curve) is performed applying FF only (u j). During the observation periods (blue curve) the hybrid controller is active (v). The reset and memory actions are visualized by the arrows. The control states related to the internal model (ξim) are reset at time t2 to the corresponding values at t1. These states are applied as initial condition during the next repetition at the same observation position. (The same applies to the second observation position). We remark that for square wave chopping the internal model consists of a simple integrator and resetting of the control states is actually not required (Me−1 = I). The reset action in the figure illustrates the more general case when richer exosystem dynamics (described by ϒ) are considered.
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Fig. 9. Chopping timeline related to hybrid <t>controller</t> (first repetition only). The step (red curve) is performed applying FF only (u j). During the observation periods (blue curve) the hybrid controller is active (v). The reset and memory actions are visualized by the arrows. The control states related to the internal model (ξim) are reset at time t2 to the corresponding values at t1. These states are applied as initial condition during the next repetition at the same observation position. (The same applies to the second observation position). We remark that for square wave chopping the internal model consists of a simple integrator and resetting of the control states is actually not required (Me−1 = I). The reset action in the figure illustrates the more general case when richer exosystem dynamics (described by ϒ) are considered.
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Fig. 9. Chopping timeline related to hybrid controller (first repetition only). The step (red curve) is performed applying FF only (u j). During the observation periods (blue curve) the hybrid controller is active (v). The reset and memory actions are visualized by the arrows. The control states related to the internal model (ξim) are reset at time t2 to the corresponding values at t1. These states are applied as initial condition during the next repetition at the same observation position. (The same applies to the second observation position). We remark that for square wave chopping the internal model consists of a simple integrator and resetting of the control states is actually not required (Me−1 = I). The reset action in the figure illustrates the more general case when richer exosystem dynamics (described by ϒ) are considered.

Journal: IEEE/ASME Transactions on Mechatronics

Article Title: High-Performance Motion Control of the METIS Cold Chopper Mechanism

doi: 10.1109/tmech.2016.2578678

Figure Lengend Snippet: Fig. 9. Chopping timeline related to hybrid controller (first repetition only). The step (red curve) is performed applying FF only (u j). During the observation periods (blue curve) the hybrid controller is active (v). The reset and memory actions are visualized by the arrows. The control states related to the internal model (ξim) are reset at time t2 to the corresponding values at t1. These states are applied as initial condition during the next repetition at the same observation position. (The same applies to the second observation position). We remark that for square wave chopping the internal model consists of a simple integrator and resetting of the control states is actually not required (Me−1 = I). The reset action in the figure illustrates the more general case when richer exosystem dynamics (described by ϒ) are considered.

Article Snippet: The Matlab xPC target platform is used to implement the digital controller (designed in Matlab Simulink using a host PC) on a target machine.

Techniques: Control

Fig. 11. Repetitive control layout. The repetitive loop is placed in parallel with the standard feedback controller. N is the number of discrete samples in one repetition.

Journal: IEEE/ASME Transactions on Mechatronics

Article Title: High-Performance Motion Control of the METIS Cold Chopper Mechanism

doi: 10.1109/tmech.2016.2578678

Figure Lengend Snippet: Fig. 11. Repetitive control layout. The repetitive loop is placed in parallel with the standard feedback controller. N is the number of discrete samples in one repetition.

Article Snippet: The Matlab xPC target platform is used to implement the digital controller (designed in Matlab Simulink using a host PC) on a target machine.

Techniques: Control

Fig. 14. Tracking error during 5Hz chop after convergence (after 4.805 sec at θy= 8.5 mrad position). Tracking of the hybrid controller is limited due to the non linearities which are not accounted for in the FF design.

Journal: IEEE/ASME Transactions on Mechatronics

Article Title: High-Performance Motion Control of the METIS Cold Chopper Mechanism

doi: 10.1109/tmech.2016.2578678

Figure Lengend Snippet: Fig. 14. Tracking error during 5Hz chop after convergence (after 4.805 sec at θy= 8.5 mrad position). Tracking of the hybrid controller is limited due to the non linearities which are not accounted for in the FF design.

Article Snippet: The Matlab xPC target platform is used to implement the digital controller (designed in Matlab Simulink using a host PC) on a target machine.

Techniques: