Author:

Keywords:

mechatronics and robotics, Science & Technology, Technology, Automation & Control Systems, Engineering, Electrical & Electronic, Engineering, Repetitive control, Robustness, Semidefinite programming, KYP lemma, PERIOD-TIME, DESIGN, SYSTEMS, 01 Mathematical Sciences, 08 Information and Computing Sciences, 09 Engineering, Industrial Engineering & Automation, 40 Engineering, 46 Information and computing sciences, 49 Mathematical sciences

Abstract:

High-order repetitive control has previously been introduced to either improve the robustness for period-time uncertainty or reduce the sensitivity for non-periodic inputs of standard repetitive control schemes. This paper presents a systematic, semidefinite programming based approach to compute high-order repetitive controllers that yield an optimal trade-off between these two performance criteria. The methodology is numerically illustrated through trade-off curves for various controller orders and levels of period-time uncertainty. Moreover, existing high-order repetitive control approaches are shown to correspond to specific points on these curves. © 2008 Elsevier Ltd. All rights reserved.