Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of H∞ Repetitive Control Systems using State Feedback

상태 궤환을 이용한 H∞ 반복 제어 시스템 설계

  • Doh, Tae-Yong (Department of Electronic and Control Engineering, Hanbat National University)
  • 도태용 (한밭대학교 전자.제어공학과)
  • Received : 2013.08.27
  • Accepted : 2013.10.29
  • Published : 2014.01.01
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Abstract

Repetitive control is a specialized control scheme to track and/or attenuate a periodic reference trajectory and/or disturbance. Most researches about repetitive control have been performed in the frequency domain. Recently, several approaches to deal with repetitive control systems in the state space are developed by representing a q filter as a state-space equation. This paper presents a design method of a repetitive control system in the state space to satisfy $H_{\infty}$ performance. The overall system is composed of a plant, a repetitive controller, and a state-feedback controller, which can be converted to a standard form used in $H_{\infty}$ control. A LMI (Linear Matrix Inequality)-based stability condition is derived for fixed state-feedback gains. Under a given q filter, another LMI condition is derived to improve $H_{\infty}$ performance and is employed to find state-feedback gains by solving an optimization problem. Finally, to verify the feasibility of the proposed method, a numerical example is demonstrated.

Keywords

Acknowledgement

Supported by : 한밭대학교

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