Guaranteed cost robust discrete repetitive control based on two-dimension model

For a class of discrete-time linear systems with uncertainties, a method of designing a guaranteed cost robust discrete repetitive controller based on two-dimensional model is proposed. By analyzing of the control and learning processes independently, a two-dimensional model for the discrete repetitive controller systems is established. As a result, a guaranteed cost robust repetitive control law based on linear matrix inequalities is developed for given quadratic performance function. The control and learning actions can be adjusted independently by tuning the weighting matrices in the performance function. Finally, the validity of the method is verified by a numerical example.