ADAPTIVE REPETITIVE CONTROL DESIGN AND FILTERED POSITIONAL GPC CONTROLLER FOR PERIODIC DISTURBANCE REJECTION

Rejane de Barros Araujo¹; Edwin C. Durandal¹; Guilherme A. Rosa¹; Antonio A. R. Coelho¹

¹ Universidade Federal de Santa Catarina

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Resumo

In this paper we present a linear Filtered Positional Generalized Predictive Control (FP-GPC) design using the repetitive control approach to cope with reference changes and periodic disturbance rejection. The proposed design methodology involves an adaptive repetitive control structure with the FP-GPC controller to deal with unknown periodic disturbance, i.e., an estimation algorithm is used to measure the frequency of the periodic disturbance signal. Additionally, robustness aspects are incorporated into the control design and a multi-objective optimization algorithm is applied to tune the filter parameters. Numerical essays with linear models are shown to verify the efficiency, stability, performance and robustness even in the presence of periodic disturbance and model-plant mismatch.

Palavras-chave: generalized predictive controller; repetitive control; optimization algorithm; stability analysis; offset-free; periodic disturbance rejection