Robust design of high order repetitive controllers under control saturation

This paper presents a methodology to simultaneously design a high order repetitive controller (HORC) and an anti-windup compensator for systems subject to control saturation and parametric uncertainties. With the proposed structure it is possible to ensure a certain level of steady-state tracking an...

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Bibliographic Details
Published inIFAC-PapersOnLine Vol. 51; no. 25; pp. 36 - 41
Main Authors Flores, Gabriel P., Flores, Jeferson V.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 2018
Subjects
Internal model principle
Period-varying reference
Robust control
Systems with saturation
Uncertain systems
Robust control
Uncertain systems
Internal model principle
Period-varying reference
Systems with saturation
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Summary:This paper presents a methodology to simultaneously design a high order repetitive controller (HORC) and an anti-windup compensator for systems subject to control saturation and parametric uncertainties. With the proposed structure it is possible to ensure a certain level of steady-state tracking and/or rejection performance when dealing with uncertain periodic signals. Based on a modified state-feedback formulation of the HORC and an static anti-windup structure, linear matrix inequality (LMI) conditions are proposed to guarantee closed-loop stability provided that the state trajectory and the reference/disturbance signals are inside admissible sets. A systematic procedure to determine upper bounds for the system initial conditions and maximum reference/disturbance values is also proposed. A numerical example illustrates the method.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2018.11.078