A design method for a modified repetitive controller for position-dependent disturbance rejection

作者：Chen Zhongxiang^*; Yamada Kou; Sakanushi Tatsuya; Tanaka Sho; Tohnai Satoshi; Zhao Yun

来源：ICIC Express Letters, 2013, 7(1): 285-290.

• Adjustable parameters
• Design method
• Design problems
• Linear matrix inequality (LMIs)
• Optimization problems
• Position-dependent disturbance
• Repetitive controller
• Robust stability conditions
• Time varying
• Time-varying state delay
• Uncertainty

This paper deals with the problem of designing a modified repetitive controller for a strictly proper plant with uncertainties to reject position-dependent disturbances. A modified repetitive controller with a time-varying period, consisting of a low-pass filter and an adjustable parameter, is developed for this class of system. Two linear matrix inequalities (LMIs)-based robust stability conditions of the closed-loop system with time-varying state delay are derived for fixed parameters. To obtain the optimal modified repetitive controller, the design problem is converted to an LMI-constrained optimization problem by reformulating the LMIs given in the robust stability conditions.

• 出版日期2013