Abstract:

For a linear discrete system, a guaranteed cost repetitive control design method is proposed based on a discrete time two dimensional (2D) model. First, state feedback is incorporated with repetitive control to improve the stability system (DRCS), and the repetitive control law is described as a state feedback of a 2D system. Then, the control performance of the DRCS evaluated by a given quadratic performance function is able to be guaranteed in a given bound by applying the proposed guaranteed cost repetitive control design method. Unlike the existing methods, the control action and learning action can be adjusted independently by tuning the weighting coefficients in the performance function. Finally, simulation shows that the method achieves a satisfactory tracking performance.