Aperiodic disturbance rejection in a modified repetitive-control system with non-linear uncertainty

作者：Zhou, Lan^*; She, Jinhua; He, Yong; Li, Chaoyi

来源：IET Control Theory and Applications, 2016, 10(18): 2394-2402.

DOI：10.1049/iet-cta.2016.0479

• ROBUST STABILIZATION
• OUTPUT-FEEDBACK
• LINEAR-SYSTEMS
• DESIGN

This study deals with the problem of aperiodic-disturbance rejection for a class of plants with non-linear statedependent uncertainty in a modified repetitive-control system (MRCS). Since both the non-linear uncertainty and the disturbances are often unknown, an equivalent-input-disturbance (EID) estimator is constructed using a full-order state observer with variant system matrix to estimate them. The EID estimate, which exhibits the overall effect on the output of the non-linear uncertainty and all types of disturbances, is incorporated into a linear repetitive control law to compensate for the non-linear uncertainty and the disturbances. A continuous-discrete two-dimensional model of the EID-based MRCS is built that enables the preferential adjustment of the control and learning actions. A sufficient condition for the robust stability for the EID-based MRCS is given in terms of a linear matrix inequality. It yields the parameters of the repetitive controller and the EID estimator. Finally, a numerical example demonstrates the design procedures and illustrates the effectiveness of the method.

• 出版日期2016-12-12
• 单位湖南科技大学; 中国地质大学（北京）