A New Design Method for Repetitive Control Systems Based on Two-dimensional Hybrid Model
基于二维混合模型的重复控制系统设计新方法

Existing design methods for repetitive control sys- tems cannot effectively synthesize such a system because the control and learning processes are carried out simultaneously in a one-dimeusionai space.This paper presents a method of de- signing a repetitive control system for a class of linear uncertain systems that are based on a two-dimensional(2D)continuous- discrete hybrid model.First,a 2D continuous-discrete hybrid model is established to describe two independent types of ac- tions in repetitive control:control and learning.The problem of designing a repetitive controller is then converted to a state- feedback design problem for the model.Next,a stability con- dition for the model is obtained from the 2D system theory. The parameters of the repetitive controller are then obtained from the stability condition in combination with linear matrix inequalities.This method is simpler,more intuitive,and more practical than existing methods,and does not suffer from their limitations.Finally,the validity of the method is verified by a numerical example.