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Design of Observer-Based H_{\infty } Robust Repetitive-Control System

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3 Author(s)
Min Wu ; School of Information Science and Engineering, Central South University, Changsha, China ; Lan Zhou ; Jinhua She

This technical note deals with the problem of designing a robust observer-based repetitive-control system that provides a given H disturbance attenuation performance for a class of plants with time-varying structured uncertainties. A continuous-discrete two-dimensional model is built that accurately describes the features of repetitive control, thereby enabling the control and learning actions to be preferentially adjusted. A sufficient condition for the repetitive-control system to have a disturbance-attenuation bound in the H setting is given in terms of a linear matrix inequality (LMI). It yields the parameters of the repetitive controller and the state observer. Finally, a numerical example demonstrates the effectiveness of the method, whose main advantage is the easy, preferential adjustment of control and learning through the tuning of two parameters in the LMI-based condition.

Published in:

IEEE Transactions on Automatic Control  (Volume:56 ,  Issue: 6 )