基于死区吸引律的离散重复控制

针对周期参考信号下的不确定离散时间系统，提出一种离散重复控制方法，利用死区函数设计新型的吸引律，将干扰补偿、抑制措施“嵌入”吸引律，构造理想误差动态，并基于此导出重复控制器。为了进行具体的控制器参数整定和表征闭环系统的误差动态行为，推导出了稳态误差带、单调减区域和绝对吸引层边界的表达式。所设计的离散重复控制器能够完全抑制周期对称干扰信号，控制器设计方法也适用于常值调节问题的定位控制。数值仿真及在电机伺服系统上的实验结果验证了所提出控制方法的有效性。

Discrete repetitive control using attracting law with dead zone

A discrete-time repetitive control method is proposed for systems with periodic reference signals. A measure of disturbance-rejection is embedded in the attracting law by using the dead-zone function to form the ideal error dynamics, by which the discrete-time repetitive controller is derived. For the convenience in adjusting the controller parameters and describing the error dynamics of the closed-loop system, the expressions for the range of the steady-state error, the boundary of the monotonically decreasing region and the absolute attractive layer are derived. The developed repetitive controller is not only effective in rejection of the periodic disturbances, but also applicable to position control with constant regulation problems. Both numerical simulation and experiment results on a servomechanism are given to verify the feasibility and effectiveness of the proposed control method.