Abstract
This paper concerns stability analysis and controller design for repetitive control. First, a two-dimensional (2D) continuous-discrete hybrid model of a repetitive control system is established. Next, new criteria for the asymptotic stability of the system are presented based on the model. Then, these criteria are extended to calculate lower bounds on stability margins to design a suitable controller. Unlike existing methods, the one in this paper employs a 2D hybrid model to independently handle the two different types of actions involved in repetitive control: continuous control and discrete learning. A numerical example demonstrates that this approach provides good performance.
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