Generalized-Extended-State-Observer-Based Repetitive Control for MIMO Systems With Mismatched Disturbances
This paper concerns the problem of designing a modified repetitive-control system based on a generalized extended state observer (GESO) for a class of multi-input, multi-output systems in the form of a nonintegral chain and with mismatched disturbances. A GESO is constructed to estimate a lumped dis...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2018-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8493539/ |
| Summary: | This paper concerns the problem of designing a modified repetitive-control system based on a generalized extended state observer (GESO) for a class of multi-input, multi-output systems in the form of a nonintegral chain and with mismatched disturbances. A GESO is constructed to estimate a lumped disturbance in a real-time fashion. Then, an improved repetitive control law is developed to attenuate the influence of the lumped disturbance from the output channel. A correction to the amount of the delay of the repetitive controller is introduced to further reduce the steady-state tracking error. A stability criterion and a design algorithm are presented. Finally, simulations and comparisons with other methods demonstrate the validity of this method. |
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| ISSN: | 2169-3536 |