An Optimal Repetitive Control Approach Based on Two-Dimensional Hybrid Model

For a class of linear systems,this paper presents a new design method of optimal repetitive control based on hybrid continuous-discrete two-dimensional(2D) model.By independently analyzing the continuous control and discrete learning processes of repetitive control system,a hybrid continuous-discrete 2D model for the repetitive control system is established and the repetitive controller design problem is then converted into a stabilization problem of the continuous-discrete 2D systems.For the given performance index function,the optimal repetitive control law is obtained with optimal control theory.The control and learning processes can be adjusted independently by the parameters in the performance index function.Finally,the validity of the method is verified by a numerical example.