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Particle swarm based repetitive spline compensator

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Particle swarm based repetitive spline compensator in two different arrangements is demonstrated.

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Particle swarm based repetitive spline compensator for precision position control is proposed here. These models have been developed by my student Karol Basinski. Two different concepts can be investigated using this submission: a swarm plus spline based modification of the position controller input and a swarm plus spline based modification of the speed controller input. More details in "Particle swarm based repetitive spline compensator for servo drives" https://doi.org/10.15199/48.2017.02.40 (the paper is openly accessible at http://pe.org.pl/articles/2017/2/40.pdf).

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