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Robust Repetitive Control for a Class of Nonlinear Systems  

서원기 (한국전자통신연구원 전파방송연구소)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.40, no.6, 2003 , pp. 1-7 More about this Journal
Abstract
This paper introduces a robust sliding mode repetitive control method for a class of nonlinear system. The sliding mode controller stabilizes the overall system and makes the tracking error converge to some residual set. Also, tile repetitive learning controller makes the tracking error converge to zero. Unlike other methods, the proposed sliding mode controller reduces the chattering effects in the steady state without using high-order sliding manifold approach.
Keywords
sliding mode; repetitive control; learning control; chattering effects;
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