Optimal MISO repetitive control system design using mixed time and frequency domain criteria

Abstract

This paper presents an optimal repetitive controller design approach when both frequency and time domains criteria are considered. These criteria include limited control force, convergence rate, and robustness. In particular, the design formulation is based on MISO (multiple-input-single-output) plants which aim at solving nodal point problems encountered in flexible dynamic systems. Nodal points represent physical constraints for feedback control, especially when their frequencies are within the control bandwidth. If multiple control paths with distinct nodal frequencies are available, the proposed method is able to design controllers to compensate the effect and reach certain design objectives. The ellipsoid algorithm is used to calculate controllers' parameters. Experiments were conducted to demonstrate the proposed method.