Design of preview repetitive controller for continuous-time systems with parameter uncertainties
A design method of repetitive controller with preview compensation is proposed for a class of uncertain continuous-time systems with parameter uncertainties.Firstly,the repetitive controller is introduced and the error system method in preview control theory is adopted,an augmented system including previewed information is constructed.This leads to the preview repetitive control(PRC)problem of the original system being transformed into the feedback control problem of the augmented error system.Then,for the augmented error system,the condition of asymptotic stability of the closed-loop system is given by using Lyapunov method and LMI technique.Based on this,the preview repetitive controller is designed.Finally,the effectiveness of the results in this paper are illustrated by numerical simulation example.
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