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Robust Stability Condition and Analysis on Steady-State Tracking Errors of Repetitive Control Systems
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  • Robust Stability Condition and Analysis on Steady-State Tracking Errors of Repetitive Control Systems
  • Robust Stability Condition and Analysis on Steady-State Tracking Errors of Repetitive Control Systems
저자명
Doh. Tae-Yong,Ryoo. Jung-Rae
간행물명
International Journal of Control, Automation and Systems
권/호정보
2008년|6권 6호|pp.960-967 (8 pages)
발행정보
제어로봇시스템학회
파일정보
정기간행물|ENG|
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이 논문은 한국과학기술정보연구원과 논문 연계를 통해 무료로 제공되는 원문입니다.
서지반출

기타언어초록

This paper shows that design of a robustly stable repetitive control system is equivalent to that of a feedback control system for an uncertain linear time-invariant system satisfying the well-known robust performance condition. Once a feedback controller is designed to satisfy the robust performance condition, the feedback controller and the repetitive controller using the performance weighting function robustly stabilizes the repetitive control system. It is also shown that we can obtain a steady-state tracking error described in a simple form without time-delay element if the robust stability condition is satisfied for the repetitive control system. Moreover, using this result, a sufficient condition is provided, which ensures that the least upper bound of the steady-state tracking error generated by the repetitive control system is less than or equal to the least upper bound of the steady-state tracking error only by the feedback system.