Robust Guaranteed-Cost Preview Repetitive Control for Polytopic Uncertain Discrete-Time Systems

Yong-Hong Lan; Xia Jun-Jun

doi:10.20944/preprints201811.0503.v1

Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Version 1 : Received: 17 November 2018 / Approved: 20 November 2018 / Online: 20 November 2018 (12:30:14 CET)

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, the 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 the guaranteed cost control problem for the augmented dynamic system. For given performance index, the sufficient condition of asymptotic stability for the closed-loop system is derived by combining parameter-dependent Lyapunov function method with linear matrix inequality (LMI) techniques. By 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.

robust control; preview control; repetitive control; controller design; uncertain systems

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Robust Guaranteed-Cost Preview Repetitive Control for Polytopic Uncertain Discrete-Time Systems

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