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Paper details
Number 2 - June 2016
Volume 26 - 2016
Robust aperiodic-disturbance rejection in an uncertain modified repetitive-control system
Lan Zhou, Jinhua She, Chaoyi Li, Changzhong Pan
Abstract
This paper concerns the problem of designing an EID-based robust output-feedback modified repetitive-control system
(ROFMRCS) that provides satisfactory aperiodic-disturbance rejection performance for a class of plants with time-varying
structured uncertainties. An equivalent-input-disturbance (EID) estimator is added to the ROFMRCS that estimates the
influences of all types of disturbances and compensates them. A continuous-discrete two-dimensional model is built to
describe the EID-based ROFMRCS that accurately presents the features of repetitive control, thereby enabling the control
and learning actions to be preferentially adjusted. A robust stability condition for the closed-loop system is given in terms
of a linear matrix inequality. It yields the parameters of the repetitive controller, the output-feedback controller, and the
EID-estimator. Finally, a numerical example demonstrates the validity of the method.
Keywords
repetitive control, equivalent input disturbance, two-dimensional system, singular-value decomposition, linear matrix inequality