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MIMO multi-periodic repetitive control system: Universal adaptive control schemes

机译:MIMO多周期重复控制系统:通用自适应控制方案

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摘要

This paper presents a simple adaptive multi-periodic repetitive control scheme when the MIMO LTI plant is not necessarily positive real (PR), however it is strictly minimum-phase, the spectrum of high-frequency gain matrix CB is symmetric and lies in the open right/left half complex plane(sign/spectrum definite). The non-identifier-based direct adaptive control technique, which does not need plant parameter information, is used to construct adaptive schemes and the system stability is analysed by Lyapunov second method. The extension to plant under certain non-linear perturbations and an exponential stability scheme are also discussed. Finally, an adaptive proportional plus multi-periodic repetitive control scheme is proposed. The theoretical findings are supported with simulations.
机译:当MIMO LTI设备不一定是正实数(PR)时,本文提出了一种简单的自适应多周期重复控制方案,但它严格是最小相位的,高频增益矩阵CB的频谱是对称的,并且是开放的。右/左半复杂平面(符号/频谱确定)。利用不需要工厂参数信息的基于非标识符的直接自适应控制技术来构造自适应方案,并通过Lyapunov第二种方法分析了系统的稳定性。还讨论了在某些非线性扰动下对植物的扩展和指数稳定性方案。最后,提出了一种自适应比例加多周期重复控制方案。理论结果得到了仿真的支持。

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