Design of a robust observer-based modified repetitive-control system
Related Experiment Video
Updated: May 14, 2026
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
1School of Information Science and Engineering, Central South University, Changsha 410083, China. zlly98@yahoo.cn
Abstract:
This paper concerns the design of a robust observer-based modified repetitive-control system for a class of strictly proper plants with periodic time-varying uncertainties. It exploits the inherent structure characteristics of repetitive control to convert the design problem to a robust stabilization problem for a continuous-discrete two-dimensional system. The singular-value decomposition and Lyapunov stability theory are used to derive a linear-matrix-inequality-based design algorithm for the parameters of control and state-observer gains. Two tuning parameters are introduced to perform the preferential adjustment of control and learning. A numerical example illustrates the adjusting procedure and demonstrates the validity of the method.
Related Concept Videos
01:10Control Systems
At the heart...
01:26Feedback control systems
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
01:22Controller Configurations
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller aligns...
01:07Time-Domain Interpretation of PD Control
Consider the example of control of motor torque. Initially, a positive...
01:26PD Controller: Design
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
01:17Open and closed-loop control systems
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal and...