Robust State Feedback Formulation for High Order Repetitive Controllers |
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| Authors: | Jeferson V Flores Aurelio T Salton Rafael S Castro |
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| Abstract: | This paper presents a robust state feedback formulation for high order repetitive controllers (HORC) able to track references and/or reject disturbances with uncertain period. We propose a modified structure of the HORC with low‐pass filter in series with the delay element, allowing us to work in the state‐space framework. The filter cut‐off frequency effects and the controller sensitiveness to harmonic and intermediary components are analyzed. A methodology based on the solution of an optimization problem subject to linear matrix inequality constraints is presented for robust synthesis of feedback gains. The advantages regarding the proposed control scheme are discussed with a simulated example of a DC motor driving an eccentric mass. |
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| Keywords: | Internal model principle high order repetitive controller linear matrix inequality robust state feedback |
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