Volume 13 Number 6
December 2016
Article Contents
Edi Kurniawan, Zhen-Wei Cao, Maria Mitrevska and Zhi-Hong Man. Design of Decentralized Multi-input Multi-output Repetitive Control Systems. International Journal of Automation and Computing, vol. 13, no. 6, pp. 615-623, 2016. doi: 10.1007/s11633-016-1013-3
Cite as: Edi Kurniawan, Zhen-Wei Cao, Maria Mitrevska and Zhi-Hong Man. Design of Decentralized Multi-input Multi-output Repetitive Control Systems. International Journal of Automation and Computing, vol. 13, no. 6, pp. 615-623, 2016.

# Design of Decentralized Multi-input Multi-output Repetitive Control Systems

Author Biography:
• Zhen-Wei Cao,received the B. Sc. and M. Eng. degrees from the Southeast University, Nanjing, China in 1985 and 1988, respectively, and the Ph. D. degree from the University of Newcastle, Newcastle, Australia in 2001, all in electrical engineering. She is currently an associate professor in the Faculty of Science, Engineering and Technology, Swinburne University of Technology, Australia.
Her research interests include robotics, mechatronics, control and automation.
E-mail:zcao@swin.edu.au

Maria Mitrevska, received the B. Eng. and B. Sc. degrees in robotics and mechatronics engineering, and computer science and software engineering from Swinburne University of Technology, Hawthorn, Australia in 2013.
She is currently a Ph. D. degree candidate in electrical engineering at Swinburne University of Technology, Australia.
Her research interests include learning control, robust control, sliding mode control, robotics and mechatronics.
E-mail:mmitrevska@swin.edu.au

Zhi-Hong Man,received the B. Eng. degree from Shanghai Jiaotong University, China in 1982, the M. Sc. degree from Chinese Academy of Sciences in 1987, and the Ph. D. degree from the University of Melbourne, Australia in 1994, respectively. From 1994 to 1996, he was the lecturer in the School of Engineering at Edith Cowan University, Australia. From 1996 to 2001, he was the lecturer and then the senior lecturer in the School of Engineering at the University of Tasmania, Australia. From 2002 to 2007, he was the associate professor of computer engineering at Nanyang Technological University, Singapore. From 2007 to 2008, he was the professor and head of electrical and computer systems engineering at Monash University Sunway Campus, Malaysia. Since 2009, he has been with Swinburne University of Technology, Australia, as the professor and head of Robotics and Mechatronics.
His research interests include nonlinear control, signal processing, robotics, neural networks, and vehicle dynamics and control.
E-mail:zman@swin.edu.au

• Corresponding author: Edi Kurniawan received the B.Eng. degree from Gadjah Mada University, Yogyakarta, Indonesia in 2003 and theM. Eng. degree from the University of Adelaide, Australia in 2009, both in electrical and electronics engineering. He received the Ph.D. degree in control system from Swinburne University of Technology, Hawthorn, Australia in 2013. He is currently a researcher at Research Center for Informatics, Indonesian Institutes of Sciences, Bandung, Indonesia.
His research interests include learning control, robust control, adaptive control, speech recognition, and image processing.
E-mail: edi.kurniawan@lipi.go.id;ORCID iD: 0000-0002-6198-9217
• Accepted: 2015-11-16
• Published Online: 2016-07-25
• This paper presents the design of decentralized repetitive control (RC) for multi-input multi-output (MIMO) systems.An optimization method is used to obtain a RC compensator that ensures system stability and good tracking performance.The designed compensator is in the form of a stable,low order,and causal filter,in which the compensator can be implemented separately without being merged with the RC internal model.This will reduce complexity in the implementation.Simulation results and comparison study are given to demonstrate the effectiveness of the proposed design.The novelty of design is also verified in experiments on a 2 degrees of freedom (DOF) robot.
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## Design of Decentralized Multi-input Multi-output Repetitive Control Systems

• ###### Corresponding author:Edi Kurniawan received the B.Eng. degree from Gadjah Mada University, Yogyakarta, Indonesia in 2003 and theM. Eng. degree from the University of Adelaide, Australia in 2009, both in electrical and electronics engineering. He received the Ph.D. degree in control system from Swinburne University of Technology, Hawthorn, Australia in 2013. He is currently a researcher at Research Center for Informatics, Indonesian Institutes of Sciences, Bandung, Indonesia.His research interests include learning control, robust control, adaptive control, speech recognition, and image processing. E-mail: edi.kurniawan@lipi.go.id;ORCID iD: 0000-0002-6198-9217

Abstract: This paper presents the design of decentralized repetitive control (RC) for multi-input multi-output (MIMO) systems.An optimization method is used to obtain a RC compensator that ensures system stability and good tracking performance.The designed compensator is in the form of a stable,low order,and causal filter,in which the compensator can be implemented separately without being merged with the RC internal model.This will reduce complexity in the implementation.Simulation results and comparison study are given to demonstrate the effectiveness of the proposed design.The novelty of design is also verified in experiments on a 2 degrees of freedom (DOF) robot.

Edi Kurniawan, Zhen-Wei Cao, Maria Mitrevska and Zhi-Hong Man. Design of Decentralized Multi-input Multi-output Repetitive Control Systems. International Journal of Automation and Computing, vol. 13, no. 6, pp. 615-623, 2016. doi: 10.1007/s11633-016-1013-3
 Citation: Edi Kurniawan, Zhen-Wei Cao, Maria Mitrevska and Zhi-Hong Man. Design of Decentralized Multi-input Multi-output Repetitive Control Systems. International Journal of Automation and Computing, vol. 13, no. 6, pp. 615-623, 2016.
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