基于二维模型的保性能离散重复控制系统设计

对于线性离散系统，给出了一种基于离散二维模型的保性能重复控制设计方法。首先为了提高系统的稳定性引入了状态反馈；用离散二维系统的状态反馈来描述重复控制律；然后，使用保性能重复控制设计方法来确保控制系统性能指标不超过某个性能上界。和现有方法的区别是，通过调节性能指标值泛函中相关权重，能够方便地对控制和学习行为进行独立调节。最后通过仿真验证了该方法能取得满意的跟踪性能。

Guaranteed cost discrete repetitive control system design based on two dimensional model

For a linear discrete system,a guaranteed cost repetitive control design method is proposed based on a discrete-time two dimensional(2D) model.First,state feedback is incorporated with repetitive control to improve the stability system(DRCS),and the repetitive control law is described as a state feedback of a 2D system.Then,the control performance of the DRCS evaluated by a given quadratic performance function is able to be guaranteed in a given bound by applying the proposed guaranteed cost repetitive control design method.Unlike the existing methods,the control action and learning action can be adjusted independently by tuning the weighting coefficients in the performance function.Finally,simulation shows that the method achieves a satisfactory tracking performance.