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

作者：Min Wu, Lan Zhou, Jinhua She · 发表于：IEEE Transactions on Automatic Control · 年份：2011 · DOI：10.1109/tac.2011.2112473 · 被引用次数：66 · 研究领域：Iterative Learning Control Systems、Piezoelectric Actuators and Control、Numerical methods for differential equations

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.