Robust high-order repetitive control: Optimal performance trade-offs |
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Authors: | Goele Pipeleers [Author Vitae] Bram Demeulenaere [Author Vitae] [Author Vitae] Jan Swevers [Author Vitae] |
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Affiliation: | K.U. Leuven, Department of Mechanical Engineering, Div. PMA, Celestijnenlaan 300B, B-3001 Heverlee, Belgium |
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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. |
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Keywords: | Repetitive control Robustness Semidefinite programming KYP lemma |
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