Robust guaranteed-cost preview repetitive control for polytopic uncertain discrete-time systems (Q2633283)
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English | Robust guaranteed-cost preview repetitive control for polytopic uncertain discrete-time systems |
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Robust guaranteed-cost preview repetitive control for polytopic uncertain discrete-time systems (English)
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8 May 2019
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Summary: In this paper, a robust guaranteed-cost preview repetitive controller is proposed for a class of polytopic uncertain discrete-time systems. In order to improve the tracking performance, a repetitive controller, combined with preview compensator, is inserted in the forward channel. By using the \(L\)-order forward difference operator, an augmented dynamic system is constructed. Then, the guaranteed-cost preview repetitive control problem is transformed into a guaranteed-cost control problem for the augmented dynamic system. For a given performance index, the sufficient condition of asymptotic stability for the closed-loop system is derived by using a parameter-dependent Lyapunov function method and linear matrix inequality (LMI) techniques. Incorporating the controller obtained into the original system, the guaranteed-cost preview repetitive controller is derived. A numerical example is also included, to show the effectiveness of the proposed method.
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robust control
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preview control
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repetitive control
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controller design
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uncertain systems
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