CYCLIC CONTROL OF LINEAR-SYSTEMS WITH APPLICATION TO A FLEXIBLE ARM

A new type of servosystem called cyclic control is introduced. The con trol algorithm presented allows the execution of cycles defined by pos itions to be attained at given time instants. The cycle starts and end s at the same position and has to be repeated over and over in time. A s distinct from repetitive control and learning control, where exact t rajectory tracking is considered, the control problem formulated cares only for position. This allows the development of a finite-dimensiona l control scheme that does not need system reinitialisation at each tr ial since the new trial starts from the point reached at the end of th e previous one. A control scheme design is explicitly addressed and an implementation on a flexible arm presented.