ZPET-repetitive speed controller for ultrasonic motors

H. Rodriguez*, Jose L Pons, R. Ceres

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

10 Scopus citations


The application of a repetitive controller with zero phase error tracking compensation (ZPETC) to the speed control problem of travelling wave ultrasonic motors is investigated. The proposed control strategy is aimed at reducing the typical speed ripples of ultrasonic motors as well at compensating the load and temperature changes. Repetitive controllers are capable of improving the response of dynamical systems under periodic disturbances by learning from the stored error values of preceding periods. Since it is desirable for the stabilizing compensator of repetitive controllers to be zero phase and perfect error tracker, the ZPET controller is a natural choice when the servo's closed-loop transfer function has non-minimum zeros. The performance of the proposed controller is compared against that of a PI-repetitive controller and its effectiveness experimentally demonstrated.

Original languageEnglish (US)
Pages (from-to)3654-3659
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Dec 3 2000
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: Apr 24 2000Apr 28 2000

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering


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