Abstract
This paper develops repetitive control design and analysis for back stepping-controlled non-linear systems. To precisely track periodic trajectories for nonlinear systems, back stepping control is first designed to render closed-loop stability and, in theory, asymptotic tracking performance. However, due to the sensitivity to the unmodelled dynamics and plant variations, asymptotic tracking performance is usually not feasible. Thus, repetitive control is applied over the back stepping-controlled system to restore asymptotic tracking performance. This approach is applied to an electrohydraulic material testing system, in which the material specimen present substantial nonlinear force and displacement relationship. The back stepping control employs both feedback and feedforward actions to render linearized I/O plant and thus the outer loop repetitive control design can be based on the compensated linear system. Experimental results are presented to demonstrate the effectiveness of the proposed approach.
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