High-order repetitive model reference control for linear systems with uncertain periodic references and disturbances

Edi Kurniawan, Hendra G. Harno and Hendra Adinanta

International Journal of Systems Science, 2022, vol. 53, issue 7, 1456-1468

Abstract: This paper presents a systematic method to design a high-order repetitive model reference controller (HO-RMRC) for a discrete-time linear system that is subject to uncertain periodic references and disturbances. The controller design method we propose is established by combining two controller design schemes: high-order repetitive control (HORC) and model reference control (MRC). Here, the HORC is used to suppress uncertain periodic disturbances significantly and the MRC is used to track time-varying references without introducing new transient responses. The stability analysis of the resulting closed-loop system is provided and describes how admissible learning gains are determined to achieve stability and a desirable convergence rate. The efficacy of the proposed control method is demonstrated via numerical simulations where the performance of the resulting HO-RMRC is compared with those of the HORC and the MRC as standalone controllers. It is evident that the HO-RMRC outperforms the HORC and the MRC in simultaneously achieving perfect reference tracking and disturbance cancellation/attenuation.

Date: 2022
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DOI: 10.1080/00207721.2021.2008545

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