Brief paper: Robust high-order repetitive control: Optimal performance trade-offs

Authors:
Goele Pipeleers;Bram Demeulenaere;Joris De Schutter;Jan Swevers
Affiliations:
K.U. Leuven, Department of Mechanical Engineering, Div. PMA, Celestijnenlaan 300B, B-3001 Heverlee, Belgium;K.U. Leuven, Department of Mechanical Engineering, Div. PMA, Celestijnenlaan 300B, B-3001 Heverlee, Belgium;K.U. Leuven, Department of Mechanical Engineering, Div. PMA, Celestijnenlaan 300B, B-3001 Heverlee, Belgium;K.U. Leuven, Department of Mechanical Engineering, Div. PMA, Celestijnenlaan 300B, B-3001 Heverlee, Belgium
Venue:
Automatica (Journal of IFAC)
Year:
2008

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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.