Output-feedback repetitive control for minimum-phase nonlinear systems with arbitrarily relative degree

Daniele Astolfi (1, 2)

1 CNRS - Centre National de la Recherche Scientifique
2 LAGEPP - Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique

A new design of output-feedback repetitive control scheme for nonlinear minimumphase systems with arbitrary relative degree and globally Lipschitz nonlinearities is proposed. This work extends the recent results in Astolfi et al. [2021]. The delay of the repetitive control scheme is represented by a transport equation. A high-gain observer and a forwarding-based feedback law are employed to steer the desired output to zero in presence of periodic signals (references and/or perturbations) and model uncertainties.

Mots clés: Repetitive Control; nonlinear Systems; PDEs; high-gain observers; forwarding

Domaines: Systèmes et contrôle [cs.SY]

Daniele Astolfi. Output-feedback repetitive control for minimum-phase nonlinear systems with arbitrarily relative degree. Third IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021, Sep 2021, Tokyo (virtual), Japan. ⟨hal-03351596⟩