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