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Robust Stability Condition and Analysis on Steady-State Tracking Errors of Repetitive Control Systems  

Doh, Tae-Yong (Department of Control and Instrumentation Engineering, Hanbat National University)
Ryoo, Jung-Rae (Department of Control and Instrumentation Engineering, Seoul National University)
Publication Information
International Journal of Control, Automation, and Systems / v.6, no.6, 2008 , pp. 960-967 More about this Journal
Abstract
This paper shows that design of a robustly stable repetitive control system is equivalent to that of a feedback control system for an uncertain linear time-invariant system satisfying the well-known robust performance condition. Once a feedback controller is designed to satisfy the robust performance condition, the feedback controller and the repetitive controller using the performance weighting function robustly stabilizes the repetitive control system. It is also shown that we can obtain a steady-state tracking error described in a simple form without time-delay element if the robust stability condition is satisfied for the repetitive control system. Moreover, using this result, a sufficient condition is provided, which ensures that the least upper bound of the steady-state tracking error generated by the repetitive control system is less than or equal to the least upper bound of the steady-state tracking error only by the feedback system.
Keywords
Least upper bound; repetitive control; robust performance; robust stability; steady-state tracking error; uncertain linear time-invariant system;
Citations & Related Records

Times Cited By Web Of Science : 7  (Related Records In Web of Science)
Times Cited By SCOPUS : 5
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