Gaussian process repetitive control

Beyond periodic internal models through kernels

Journal article (2022)

Authors

Noud Mooren Eindhoven University of Technology
Gert Witvoet TNO, Eindhoven University of Technology
T.A.E. Oomen Team Jan-Willem van Wingerden - Mechanical, Maritime and Materials Engineering , Eindhoven University of Technology
Research Group
Team Jan-Willem van Wingerden (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 Noud Mooren, Gert Witvoet, T.A.E. Oomen
DOI: https://doi.org/10.1016/j.automatica.2022.110273
More Info
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Published Date

2022

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Jan-Willem van Wingerden

Abstract

Repetitive control enables the exact compensation of periodic disturbances if the internal model is appropriately selected. The aim of this paper is to develop a novel synthesis technique for repetitive control (RC) based on a new more general internal model. By employing a Gaussian process internal model, asymptotic rejection is obtained for a wide range of disturbances through an appropriate selection of a kernel. The implementation is a simple linear time-invariant (LTI) filter that is automatically synthesized through this kernel. The result is a user-friendly design approach based on a limited number of intuitive design variables, such as smoothness and periodicity. The approach naturally extends to reject multi-period and non-periodic disturbances, exiting approaches are recovered as special cases, and a case study shows that it outperforms traditional RC in both convergence speed and steady-state error.