H∞ Controller Design for an Observer-Based Modified Repetitive-Control System

Abstract EN

This paper presents a method of designing a state-observer based modified repetitive-control system that provides a given H∞ level of disturbance attenuation for a class of strictly proper linear plants.

Since the time delay in a repetitive controller can be treated as a kind of disturbance, we convert the system design problem into a standard state-feedback H∞ control problem for a linear time-invariant system.

The Lyapunov functional and the singular-value decomposition of the output matrix are used to derive a linear-matrix-inequality (LMI) based design algorithm for the parameters of the feedback controller and the state-observer.

A numerical example demonstrates the validity of the method.