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2d Hybrid Model-based Static Output Feedback Robust Control, Repeat

Posted on:2010-01-26Degree:MasterType:Thesis
Country:ChinaCandidate:S H ChenFull Text:PDF
GTID:2208360278468764Subject:Control Science and Engineering
Abstract/Summary:PDF Full Text Request
In control system practice, there are many periodic control tasks and high accurate tracking to periodic exogenous signals with a known period is frequently needed. For the high accuracy control of such systems, the repetitive control (RC) method can provide feasible solutions and theoretical basis.To cope with the deficiency of designing RC systems in one dimensional space, and then by analyzing the continuous control process within one period and discrete learning process between two periods independently, this dissertation propose some new design methods for the RC based on static output feedback. The validity and superiority of the method in this dissertion is demonstrated by numerical examples and experiment.The first part of this dissertation deals with the problem of the static output feedback control of RC systems. First, by designing the structure of a feedback RC systems, a hybrid continuous-discrete two dimensional (2D) model for the RC system is established. The RC systems design problem is converted to the design problem of the continuous-discrete 2D systems with an output feedback. Next, by using a 2D systems method, a sufficient stability condition for the 2D hybrid systems is derived in terms of linear matrix inequality. Based on the condition, the parameters of output feedback repetitive controller can be computed easily. Furthermore, the result is extended to handle a plant with time-varying uncertainties. The validity of the method is demonstrated by numerical examples.To improve the stability condition of RC systems, the second part of this dissertation considers the problem of the static output feedback control of modified RC systems. First, new output feedback design method for modified RC systems based on 2D hybrid model is proposed. Next, by using a 2D Lyapunov method, a sufficient stability condition for the 2D hybrid systems is obtained. The condition is used to obtain the parameters of a feedback controller and a low-pass filter in the modified RC systems. The result is then extended to handle a plant with time-varying uncertainties. The validity of the method is demonstrated by numerical examples.Finally, an RC experimental system is established. Based on the system, the experiment about RC based on 2D hybrid model is accomplished, by introducing the output feedback repetitive controller proposed in this dissertation. Comparing with traditional RC design method, the experimental results also reflects the superiority of the method in this dissertation.
Keywords/Search Tags:repetitive control, static output feedback, parametric uncertainties, two dimensional systems, linear matrix inequality
PDF Full Text Request
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