Edi Kurniawan | Indonesian Institute of Sciences (original) (raw)

Papers by Edi Kurniawan

2014 IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2014), 2014

This paper presents the design of a robust discrete-time sliding mode repetitive controller (DSMR... more This paper presents the design of a robust discrete-time sliding mode repetitive controller (DSMRC) which combines the features of repetitive control (RC) and sliding mode control (SMC) to achieve fast transient response, improved robustness to various matched uncertainties, and improved steady state performance. The new control structure consists of a repetitive control component and a sliding mode
control part. The task of the sliding mode component is to
provide a fast dynamic response and improve the robustness of
the system against various uncertainties. The repetitive control
part is added to the system to reduce the periodic error and
improve the steady state performance of the system. A small
pure phase lead component is added to the RC structure to
ensure system stability and achieve high bandwidth tracking
performance in the presence of bounded uncertainties. The
proposed control structure is applied to a linear actuator (LA)
system subjected to payload variations. A detailed analysis of
the new control structure is presented in this paper to show the
significance of the proposed scheme. Simulation results verify
the effectiveness of the proposed method.

As wireless devices proliferate, more of these devices have to share a finite and increasingly li... more As wireless devices proliferate, more of these devices have to share a finite and increasingly limited amount of available radio spectrum. Currently, spectrum bands are used for a particular purpose that they are licensed for. However, these spectrums are not always used by their licensees or primary users, and as such are unused and are idle most of the time. These swath of unused frequency spectrum can be used by unlicensed users, when available, to mitigate the spectrum scarcity. In this article we study different methods of spectrum sensing in cognitive radio paradigm and compare them in terms of their potential interference with primary users.

IEEE Transactions on Industrial Electronics, Jun 2014

This paper proposes the design of robust repetitive control with time-varying sampling periods. F... more This paper proposes the design of robust repetitive control with time-varying sampling periods. First, it develops a new frequency domain method to design a low-order, stable, robust, and causal IIR repetitive compensator using an optimization method to achieve fast convergence and high tracking accuracy. As such, a new stable and causal repetitive controller can be implemented independently to reduce the design complexity. The comprehensive analysis and comparison study are presented. Then, this paper extends the method to design a robust repetitive controller, which compensates time-varying periodic signals in a known range. A complete series of experiments is successfully carried out to demonstrate the effectiveness of the proposed algorithms.

IET Control Theory & Applications, 2014

The repetitive control is well known for rejecting the periodic disturbances. However, most of th... more The repetitive control is well known for rejecting the periodic disturbances. However, most of the existing repetitive control algorithms assume that either the plant is known or the disturbance period is fixed. This study proposes the digital design of adaptive repetitive control for a class of linear systems subject to time-varying periodic disturbances, whose periods are assumed to be identifiable. The proposed control is based on the direct adaptive control scheme and the internal model principle. A comparative study is conducted and the effectiveness of the approach is verified in simulations and experiments on a servo motor system.

2014 6th International Conference on Information Technology and Electrical Engineering (ICITEE), 2014

Proceedings of 2014 International Conference on Modelling, Identification & Control, 2014

This paper extends the application of a robust repetitive controller to a dual stage actuator (DS... more This paper extends the application of a robust repetitive controller to a dual stage actuator (DSA) system with nonlinearities. An existing robust repetitive control (RC) structure is applied to the DSA system to compensate for nonlinear friction and other uncertainties within a known range. A comprehensive study of the new application of the robust RC and a comparison study will be presented in this paper. Simulation results also will be presented to support the analysis and verify the effectiveness of the applied control method.

Proceedings of 2014 International Conference on Modelling, Identification & Control, 2014

ABSTRACT A modified robust controller is proposed, to regulate uncertainties in system dynamics a... more ABSTRACT A modified robust controller is proposed, to regulate uncertainties in system dynamics and external disturbances, for the plant with relative degree greater than zero. The design is based on the concept of extended state observer (ESO) with repetitive controller (RC). In real time estimation and mitigation of the total effect of various uncertainties, ESO based RC is particularly effective against a wide range of parameter variations, model uncertainties, and large disturbances. With only two tuning parameters, the controller provides a simple and user friendly solution to complex engineering problems in practice. The comparison results verified the effectiveness of the ESO based RC over state observer (SO) based RC.

2013 IEEE 8th Conference on Industrial Electronics and Applications (ICIEA), 2013

This paper proposes decentralized repetitive control (RC) design for multiple inputs multiple out... more This paper proposes decentralized repetitive control (RC) design for multiple inputs multiple outputs (MIMO) system. The design comprises in both continuous and discrete-time domain. A decentralized stabilizing controller is firstly developed in continuous-time to achieve a desired complimentary sensitivity function. Relative Gain Array (RGA) analysis is used to obtain the best pairings of inputs and outputs. Then, robustness analysis is conducted to determine the impact of neglected couplings. Secondly, the RC is designed in discrete-time based on the information of complimentary sensitivity function. A set of low order, stable and causal repetitive control compensators are developed using a new frequency domain method. The proposed RC compensator works for both minimum and non-minimum phase system. Simulation results for linear MIMO model of pick and place robot arm are presented to validate the effectiveness of the design.

Repetitive Control (RC) has been widely used to track/reject periodic signal. However, RC alone f... more Repetitive Control (RC) has been widely used to track/reject periodic signal. However, RC alone fails to track any non-periodic reference signal. Another control scheme such as Model Reference Control (MRC) or Model Reference Adaptive Control (MRAC) is required to do such task. MRC is employed when the plant parameters are known, while MRAC is used when the plant parameters are unknown. Therefore, MRC/MRAC needs to be combined with RC in order to simultaneously track any reference signal (not necessarily periodic) and reject the periodic disturbance. The design of RC mostly assumes the constant frequency of disturbance which leads to the selection of a fixed sampling period. In practical, disturbance is possibly time-varying in frequency. The sampling period has to be carefully adjusted in order to keep the number of samples per period remains constant. This sampling period adjustments change the plant parameters. This paper proposes the design of MRAC combined with RC for system subject to periodic disturbance with time-varying frequency. As a preliminary, the design of MRC combined with RC is also discussed here.

Repetitive controller is usually designed by assuming constant period of reference/disturbance si... more Repetitive controller is usually designed by assuming constant period of reference/disturbance signal, which leads to the selection of fixed sampling period. However, in practical, reference signal and disturbance are varying in period. Therefore, sampling period is carefully adjusted to overcome period variation, which makes characteristic of the plant is also changing. Robust design is employed to obtain pre-compensator which stabilizes closed loop repetitive system for all values of sampling period in the known interval. The design consists of two steps; constructing a nominal pre-compensator and designing robust pre-compensator which works well for large range of sampling period variation. In the design, time-varying plant parameters due to sampling period variation are treated as parametric uncertainties. The new form of pre-compensator which works with this robust design is also proposed.

Smart Structures, Devices, and Systems IV, 2008

As wireless devices proliferate, more of these devices have to share a finite and increasingly li... more As wireless devices proliferate, more of these devices have to share a finite and increasingly limited amount of available radio spectrum. Currently, spectrum bands are used for a particular purpose that they are licensed for. However, these spectrums are not always used by their licensees or primary users, and as such are unused and are idle most of the time. These swath of unused frequency spectrum can be used by unlicensed users, when available, to mitigate the spectrum scarcity. In this article we study different methods of spectrum sensing in cognitive radio paradigm and compare them in terms of their potential interference with primary users.

Smart Structures, Devices, and Systems IV, 2008

As wireless devices proliferate, more of these devices have to share a finite and increasingly li... more As wireless devices proliferate, more of these devices have to share a finite and increasingly limited amount of available radio spectrum. Currently, spectrum bands are used for a particular purpose that they are licensed for. However, these spectrums are not always used by their licensees or primary users, and as such are unused and are idle most of the time. These swath of unused frequency spectrum can be used by unlicensed users, when available, to mitigate the spectrum scarcity. In this article we study different methods of spectrum sensing in cognitive radio paradigm and compare them in terms of their potential interference with primary users.

2014 IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2014), 2014

This paper presents the design of a robust discrete-time sliding mode repetitive controller (DSMR... more This paper presents the design of a robust discrete-time sliding mode repetitive controller (DSMRC) which combines the features of repetitive control (RC) and sliding mode control (SMC) to achieve fast transient response, improved robustness to various matched uncertainties, and improved steady state performance. The new control structure consists of a repetitive control component and a sliding mode
control part. The task of the sliding mode component is to
provide a fast dynamic response and improve the robustness of
the system against various uncertainties. The repetitive control
part is added to the system to reduce the periodic error and
improve the steady state performance of the system. A small
pure phase lead component is added to the RC structure to
ensure system stability and achieve high bandwidth tracking
performance in the presence of bounded uncertainties. The
proposed control structure is applied to a linear actuator (LA)
system subjected to payload variations. A detailed analysis of
the new control structure is presented in this paper to show the
significance of the proposed scheme. Simulation results verify
the effectiveness of the proposed method.

As wireless devices proliferate, more of these devices have to share a finite and increasingly li... more As wireless devices proliferate, more of these devices have to share a finite and increasingly limited amount of available radio spectrum. Currently, spectrum bands are used for a particular purpose that they are licensed for. However, these spectrums are not always used by their licensees or primary users, and as such are unused and are idle most of the time. These swath of unused frequency spectrum can be used by unlicensed users, when available, to mitigate the spectrum scarcity. In this article we study different methods of spectrum sensing in cognitive radio paradigm and compare them in terms of their potential interference with primary users.

IEEE Transactions on Industrial Electronics, Jun 2014

This paper proposes the design of robust repetitive control with time-varying sampling periods. F... more This paper proposes the design of robust repetitive control with time-varying sampling periods. First, it develops a new frequency domain method to design a low-order, stable, robust, and causal IIR repetitive compensator using an optimization method to achieve fast convergence and high tracking accuracy. As such, a new stable and causal repetitive controller can be implemented independently to reduce the design complexity. The comprehensive analysis and comparison study are presented. Then, this paper extends the method to design a robust repetitive controller, which compensates time-varying periodic signals in a known range. A complete series of experiments is successfully carried out to demonstrate the effectiveness of the proposed algorithms.

IET Control Theory & Applications, 2014

The repetitive control is well known for rejecting the periodic disturbances. However, most of th... more The repetitive control is well known for rejecting the periodic disturbances. However, most of the existing repetitive control algorithms assume that either the plant is known or the disturbance period is fixed. This study proposes the digital design of adaptive repetitive control for a class of linear systems subject to time-varying periodic disturbances, whose periods are assumed to be identifiable. The proposed control is based on the direct adaptive control scheme and the internal model principle. A comparative study is conducted and the effectiveness of the approach is verified in simulations and experiments on a servo motor system.

2014 6th International Conference on Information Technology and Electrical Engineering (ICITEE), 2014

Proceedings of 2014 International Conference on Modelling, Identification & Control, 2014

This paper extends the application of a robust repetitive controller to a dual stage actuator (DS... more This paper extends the application of a robust repetitive controller to a dual stage actuator (DSA) system with nonlinearities. An existing robust repetitive control (RC) structure is applied to the DSA system to compensate for nonlinear friction and other uncertainties within a known range. A comprehensive study of the new application of the robust RC and a comparison study will be presented in this paper. Simulation results also will be presented to support the analysis and verify the effectiveness of the applied control method.

Proceedings of 2014 International Conference on Modelling, Identification & Control, 2014

ABSTRACT A modified robust controller is proposed, to regulate uncertainties in system dynamics a... more ABSTRACT A modified robust controller is proposed, to regulate uncertainties in system dynamics and external disturbances, for the plant with relative degree greater than zero. The design is based on the concept of extended state observer (ESO) with repetitive controller (RC). In real time estimation and mitigation of the total effect of various uncertainties, ESO based RC is particularly effective against a wide range of parameter variations, model uncertainties, and large disturbances. With only two tuning parameters, the controller provides a simple and user friendly solution to complex engineering problems in practice. The comparison results verified the effectiveness of the ESO based RC over state observer (SO) based RC.

2013 IEEE 8th Conference on Industrial Electronics and Applications (ICIEA), 2013

This paper proposes decentralized repetitive control (RC) design for multiple inputs multiple out... more This paper proposes decentralized repetitive control (RC) design for multiple inputs multiple outputs (MIMO) system. The design comprises in both continuous and discrete-time domain. A decentralized stabilizing controller is firstly developed in continuous-time to achieve a desired complimentary sensitivity function. Relative Gain Array (RGA) analysis is used to obtain the best pairings of inputs and outputs. Then, robustness analysis is conducted to determine the impact of neglected couplings. Secondly, the RC is designed in discrete-time based on the information of complimentary sensitivity function. A set of low order, stable and causal repetitive control compensators are developed using a new frequency domain method. The proposed RC compensator works for both minimum and non-minimum phase system. Simulation results for linear MIMO model of pick and place robot arm are presented to validate the effectiveness of the design.

Repetitive Control (RC) has been widely used to track/reject periodic signal. However, RC alone f... more Repetitive Control (RC) has been widely used to track/reject periodic signal. However, RC alone fails to track any non-periodic reference signal. Another control scheme such as Model Reference Control (MRC) or Model Reference Adaptive Control (MRAC) is required to do such task. MRC is employed when the plant parameters are known, while MRAC is used when the plant parameters are unknown. Therefore, MRC/MRAC needs to be combined with RC in order to simultaneously track any reference signal (not necessarily periodic) and reject the periodic disturbance. The design of RC mostly assumes the constant frequency of disturbance which leads to the selection of a fixed sampling period. In practical, disturbance is possibly time-varying in frequency. The sampling period has to be carefully adjusted in order to keep the number of samples per period remains constant. This sampling period adjustments change the plant parameters. This paper proposes the design of MRAC combined with RC for system subject to periodic disturbance with time-varying frequency. As a preliminary, the design of MRC combined with RC is also discussed here.

Repetitive controller is usually designed by assuming constant period of reference/disturbance si... more Repetitive controller is usually designed by assuming constant period of reference/disturbance signal, which leads to the selection of fixed sampling period. However, in practical, reference signal and disturbance are varying in period. Therefore, sampling period is carefully adjusted to overcome period variation, which makes characteristic of the plant is also changing. Robust design is employed to obtain pre-compensator which stabilizes closed loop repetitive system for all values of sampling period in the known interval. The design consists of two steps; constructing a nominal pre-compensator and designing robust pre-compensator which works well for large range of sampling period variation. In the design, time-varying plant parameters due to sampling period variation are treated as parametric uncertainties. The new form of pre-compensator which works with this robust design is also proposed.

Smart Structures, Devices, and Systems IV, 2008

As wireless devices proliferate, more of these devices have to share a finite and increasingly li... more As wireless devices proliferate, more of these devices have to share a finite and increasingly limited amount of available radio spectrum. Currently, spectrum bands are used for a particular purpose that they are licensed for. However, these spectrums are not always used by their licensees or primary users, and as such are unused and are idle most of the time. These swath of unused frequency spectrum can be used by unlicensed users, when available, to mitigate the spectrum scarcity. In this article we study different methods of spectrum sensing in cognitive radio paradigm and compare them in terms of their potential interference with primary users.

Smart Structures, Devices, and Systems IV, 2008

As wireless devices proliferate, more of these devices have to share a finite and increasingly li... more As wireless devices proliferate, more of these devices have to share a finite and increasingly limited amount of available radio spectrum. Currently, spectrum bands are used for a particular purpose that they are licensed for. However, these spectrums are not always used by their licensees or primary users, and as such are unused and are idle most of the time. These swath of unused frequency spectrum can be used by unlicensed users, when available, to mitigate the spectrum scarcity. In this article we study different methods of spectrum sensing in cognitive radio paradigm and compare them in terms of their potential interference with primary users.