Periodic/Aperiodic Motion Control Using Periodic/Aperiodic Separation Filter

Hisayoshi Muramatsu, Seiichiro Katsura

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


Motion control is a fundamental technique used in automated mechanical systems. Classically, velocity, force, and impedance are controlled in motion control systems, but simultaneous control is difficult. This article proposes periodic/aperiodic (P/A) motion control based on periodicity and aperiodicity of motion. The P/A motion control separately applies different control methods to P/A motions using P/A velocity and P/A force, which are extracted using a periodic/aperiodic separation filter (PASF) from velocity and force. Accordingly, six types of P/A motion controls are constructed in this article, which correspond to different combinations of the P/A velocity, P/A force, and P/A impedance controls. To construct the P/A motion control systems, acceleration control based on a disturbance observer is used. The ACS, which rejects disturbances, enables the P/A motion control design to ignore disturbances. The experiments were conducted to validate the six P/A motion controls, which simultaneously realized two P/A motion control objectives.

Original languageEnglish
Article number8858034
Pages (from-to)7649-7658
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Issue number9
Publication statusPublished - 2020 Sept


  • Disturbance observer (DOB)
  • force control
  • impedance control
  • motion control
  • periodicity
  • position control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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