关键词: 重复控制系统 , 线性矩阵不等式 , 锥补线性化 , 输出反馈控制器 , 跟踪精度

Abstract: The method for the linear system with time－varying norm－bounded uncertainties was presented to reject periodic disturbances and to track periodic reference signals with a known period effectively，which can design the low－pass filter in the repetitive controller and the output feedback controller simultaneously．The repetitive control system was converted to a time－delay system；Based on Lyapunov theory，a sufficient condition was derived in terms of a linear matrix inequality （LMI），which ensures robust stability of the time － delay system．Based on the derived condition，the problem of designing the low－pass filter and the output feedback controller was converted to a nonlinear matrix inequality problem．By using the linear matrix inequality （LMI） and cone complementarity linearization （CCL） algorithm，an iterative algorithm was presented to calculate the larger cut－off angular frequency of a low－pass filter and the corresponding output feedback controller parameters．The numerical example is presented to illustrate the validity of the proposed method．

Key words: Repetitive control system , Linear matrix inequality , Cone complementarity linearization algorithm , Output feedback controller , Tracking accuracy