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B-spline network based repetitive motion control

version (30.2 KB) by Bartlomiej Ufnalski
The concept of B-spline based repetitive control is explored within the frame of motion control.


Updated Tue, 20 Oct 2015 16:37:05 +0000

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This model employs the idea presented in . Some modifications described in are implemented. A very concise C-code (yet still readable) developed by Michal Malkowski for is used. The plant is identical as in . This solution comes with some drawbacks. I encourage you to identify their roots on your own -- and fix them :). The quadratic spline is more smooth than the linear one but is it better? When testing electric drives always examine the shape of the current(s). And remember to click the Build button in the S-Function block before attempting to run the model. More info: M. Malkowski, B. Ufnalski and L. M. Grzesiak, B-spline based repetitive controller revisited: error shift, higher-order polynomials and smooth pass-to-pass transition, 19th International Conference on System Theory, Control and Computing (ICSTCC), 2015, .

Cite As

Bartlomiej Ufnalski (2022). B-spline network based repetitive motion control (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2014b
Compatible with any release
Platform Compatibility
Windows macOS Linux

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