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Mathematical Problems in Engineering
Volume 2015, Article ID 380609, 9 pages
Research Article

LPV Observer-Based Strategy for Rejection of Periodic Disturbances with Time-Varying Frequency

1Departamento de Ingeniería Eléctrica y Electrónica, Universidad Nacional de Colombia, Bogotá, Colombia
2Institut d’Organització i Control de Sistemes Industrials, Universitat Politècnica de Catalunya, 08028 Barcelona, Spain

Received 21 December 2014; Revised 29 April 2015; Accepted 4 May 2015

Academic Editor: Peter Dabnichki

Copyright © 2015 G. A. Ramos et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Rejection of periodic disturbances is an important issue in control theory and engineering applications. Conventional strategies like repetitive control and resonant control can deal adequately with this problem but they fail when the frequency of the disturbance varies with time. This paper proposes a Linear Parameter Varying (LPV) resonant observer-based control for periodic signal rejection which is able to deal with the changes in frequency of the disturbance signal. The observer includes, in an embedded way, an internal model of the disturbance that is based on its harmonic decomposition. In this way, the frequency of the disturbance signal constitutes a parameter that can be adjusted according to the variations of the signal. The resulting disturbance estimation is then used by a control law that cancels the periodic disturbance term while controlling a specified tracking task. The proposed scheme lets the control designer address the disturbance estimation and tracking problems separately. Experimental results, on a mechatronic test bed, show that the proposed LPV resonant observer-based control successfully rejects periodic disturbances under varying frequency conditions.