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Robust State Feedback Formulation for High Order Repetitive Controllers
Author(s) -
Flores Jeferson V.,
Salton Aurelio T.
Publication year - 2016
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1188
Subject(s) - control theory (sociology) , linear matrix inequality , controller (irrigation) , repetitive control , computer science , filter (signal processing) , full state feedback , robust control , state (computer science) , control engineering , engineering , control (management) , mathematical optimization , mathematics , control system , algorithm , electrical engineering , artificial intelligence , computer vision , agronomy , biology
This paper presents a robust state feedback formulation for high order repetitive controllers (HORC) able to track references and/or reject disturbances with uncertain period. We propose a modified structure of the HORC with low‐pass filter in series with the delay element, allowing us to work in the state‐space framework. The filter cut‐off frequency effects and the controller sensitiveness to harmonic and intermediary components are analyzed. A methodology based on the solution of an optimization problem subject to linear matrix inequality constraints is presented for robust synthesis of feedback gains. The advantages regarding the proposed control scheme are discussed with a simulated example of a DC motor driving an eccentric mass.