Robust high-order repetitive control: Optimal performance trade-offs

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. Key words: Repetitive control; Robustness; Semidefinite programming; KYP lemma

• Type: Journal
• Year: 2008
• Where: AUTOMATICA
• Authors: Goele Pipeleers, Bram Demeulenaere, Joris De Schutter, Jan Swevers
• Keywords: AUTOMATICA 2008, Period-time Uncertainty, Repetitive Control, Semidefinite Programming