Abstract
This paper concerns a Padé-approximation-based preview repetitive control (PRC) scheme for continuous-time linear systems. Firstly, the state space representation of the repetitive controller is transformed into a nondelayed one by Padé approximation. Then, an augmented dynamic system is constructed by using the nominal state equation with the error system and the state equation of a repetitive controller. Next, by using optimal control theory, a Padé-approximation-based PRC law is obtained. It consists of state feedback, error integral compensation, output integral of repetitive controller, and preview compensation. Finally, the effectiveness of the method is verified by a numerical simulation.
Highlights
Preview control (PC) is an extended feedforward control method
For more than five decades, the most extensive research into preview control has focused on the linear quadratic optimal control problem with preview compensation [1,2,3,4,5], especially for discrete-time systems
The state space representation of the repetitive controller was transformed into a nondelayed one by Padeapproximation. en, an augmented dynamic system was constructed by using the nominal state equation with the error system and the state equation of the repetitive controller
Summary
Preview control (PC) is an extended feedforward control method. For more than five decades, the most extensive research into preview control has focused on the linear quadratic optimal control problem with preview compensation [1,2,3,4,5], especially for discrete-time systems. Linear matrix inequality (LMI) technique has been extensively used to handle the PC problems for uncertain discrete-time systems [6]. In continuous-time systems, the methods that can be used to deal with PC issue are relatively limited, and differential operation is widely used instead of differential operation [12,13,14,15,16]
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