APPLICATION OF REPETITIVE CONTROL TO A PERISTALTIC PUMP

The aim of this paper is to study angular velocity control of a rotati ng axis, a peristaltic pump where the disturbance is associated with c ertain angular positions. The use of constant sampling rare then impli es varying disturbance period. A discrete repetitive control scheme ba sed on a reduced order disturbance model tuned to the setpoint of the angular velocity is shown to reject the modeled disturbance with asymp totically zero error, With axis angle synchronization of sampling, the plant model is time-varying but it gives a static discrete disturbanc e model independent of the angular velocity. If the deviation from the nominal working point is nor too large this is to prefer while it giv es faster convergence.