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Article Dans Une Revue Automatica Année : 2021

Repetitive Control Design Based on Forwarding for Nonlinear Minimum-Phase Systems

Résumé

We propose a new design for a repetitive control scheme for nonlinear minimum-phase systems with arbitrary relative degree and globally Lipschitz nonlinearities. We represent the delay of the repetitive control scheme as a transport equation and we propose a new forwarding-based (partial) state-feedback design that uses not only the boundary information of the delay, but the entire state of the transport equation representing the delay. Through a rigorous mathematical analysis, we show that, from a theoretical point of view, asymptotic convergence of the desired regulated output can be achieved with the proposed control design.
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Dates et versions

hal-03157572 , version 1 (03-03-2021)

Identifiants

Citer

Daniele Astolfi, Swann Marx, Nathan van de Wouw. Repetitive Control Design Based on Forwarding for Nonlinear Minimum-Phase Systems. Automatica, In press, ⟨10.1016/j.automatica.2021.109671⟩. ⟨hal-03157572⟩
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