The experimental setup with bloodpump, oscilloscope and 386-PC for digital control.

The Experimental Plant

The experimental plant, a peristaltic pump intended for blood-pumping in a dialysis machine, is presented below. The pump element is from Gambro AB in Lund, Sweden.

Every lap the tube must be compressed and released by each roller. This introduces a large periodic disturbance, and the axis may almost stop at low paces.

More detailed description of the pump element

Some references:

G. Hillerström and J. Sternby, ``Application of Repetitive Control to a Peristaltic Pump'', In the ASME Journal of Dynamic Systems Measurement and Control 116(4), pp. 786-789, Dec. 1994. (Also in proceedings of the American Control Conference, pp. 136-140, San Fransisco, June 1993.)

G. Hillerström, ``Rejection of Periodic Disturbances'', Licentiate Thesis (1992:21L), Luleå University of Technology, Oct. 1992

A. Medvedev and G. Hillerström, ``External Model Control of a Peristaltic Pump'', Preprints of the IFAC Symposium on Advanced Control of Chemical Processes, pp. 519-524, Kyoto, Japan, May 1994

S. Rönnbäck, G. Hillerström and J. Sternby, ``Periodic--Disturbance Rejection and Setpoint Tracking with Application to a Peristaltic Pump'', In proceedings of the European Control Conference, pp. 202--208, Groningen, The Netherlands, June 1993