An Improved Equivalent-Input-Disturbance Approach for Repetitive Control System With State Delay and Disturbance
An Improved Equivalent-Input-Disturbance Approach for Repetitive Control System With State Delay and Disturbance
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DOI：
10.1109/tie.2017.2716906
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发表时间：
2018
影响因子：
7.7
通讯作者：
Pan Yu;Min Wu;Jinhua She;Kang‐Zhi Liu;Y. Nakanishi
中科院分区：
文献类型：
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作者：
Pan Yu;Min Wu;Jinhua She;Kang‐Zhi Liu;Y. Nakanishi
提出了一种改进的等效输入扰动(EID)方法，用于提高修正重复控制系统中具有状态时滞的严格真对象的抗扰性能。引入增益因子，构造了一种改进的EID估计器。这增加了系统设计的灵活性，并使干扰抑制的动态性能能够调整。此外，避免了传统EID估计器广泛使用的对易条件。因此，它通过消除对易条件施加的约束来降低设计的保守性。该系统分为两个子系统，并应用分离定理简化了设计。对于一个子系统，利用改进的重复控制器和被控对象的时滞信息来降低稳定性条件的保守性。得到的线性矩阵不等式(LMI)被用来求出状态反馈控制器的增益。给出了另一个子系统的状态观测器和改进的EID估值器的增益设计方法。一个金属加工系统的实例研究验证了该方法的优越性。
An improved equivalent-input-disturbance (EID) approach is devised to enhance the disturbance-rejection performance for a strictly proper plant with a state delay in a modified repetitive-control system. A gain factor is introduced to construct an improved EID estimator. This increases the flexibility of system design and enables the adjustment of the dynamical performance of disturbance rejection. Moreover, the commutative condition, which is widely used for the conventional EID estimator, is avoided. Thus, it reduces the conservativeness of design by removing the constraints imposed by the commutative condition. The system is divided into two subsystems, and the separation theorem is applied to simplify the design. For one subsystem, the delay information on both the modified repetitive controller and the plant is used to reduce the conservativeness of stability condition. The resulting linear matrix inequality (LMI) is used to find the gain of the state-feedback controller. Another LMI is derived to design the gains of the state observer and the improved EID estimator for the other subsystem. A case study on a metal-cutting system validates the superiority of the developed method.