Robust design of high order repetitive controllers under control saturation. Issue 25 (2018)

• Record Type: Journal Article
• Authors: Flores, Gabriel P.; Flores, Jeferson V.
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 25(2018)
• Page Start: 36
• Page End: 41
• Publication Date: 2018
• Subjects: Robust control -- Systems with saturation -- Uncertain systems -- Period-varying reference -- Internal model principle; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.11.078
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper presents a methodology to simultaneously design a high order repetitive controller (HORC) and an anti-windup compensator for systems subject to control saturation and parametric uncertainties. With the proposed structure it is possible to ensure a certain level of steady-state tracking and/or rejection performance when dealing with uncertain periodic signals. Based on a modified state-feedback formulation of the HORC and an static anti-windup structure, linear matrix inequality (LMI) conditions are proposed to guarantee closed-loop stability provided that the state trajectory and the reference/disturbance signals are inside admissible sets. A systematic procedure to determine upper bounds for the system initial conditions and maximum reference/disturbance values is also proposed. A numerical example illustrates the method.