Abstract
In this paper, the problem of optimal preview repetitive control (OPRC) for continuous-time linear systems is proposed. First, an augmented dynamic system including the derivative of the state vector and the output of the basic repetitive controller is constructed by using lift technique. Then, a new performance index is denoted, which transforms the tracking problem into a linear quadratic regulation problem. Based on the optimal control theory, the explicit optimal preview repetitive controller is obtained, which combination of the state feedback, the integral action related to the tracking error, the basic repetitive controller and the preview compensation. Finally, the developed design techniques are applied to permanent magnet synchronous motor (PMSM) speed control problem. The simulation results demonstrate the validity of the proposed method.
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