Synthesis of a Stable Discrete-Time Repetitive Controller for MIMO Systems

[+] Author and Article Information
Nader Sadegh

The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332

J. Dyn. Sys., Meas., Control 117(1), 92-98 (Mar 01, 1995) (7 pages) doi:10.1115/1.2798528 History: Received April 28, 1992; Revised December 10, 1993; Online December 03, 2007


This paper presents some new results on synthesis and stability analysis of a class of repetitive controllers for discrete-time multi-input multi-output (MIMO) linear time-invariant (LTI) systems. In particular, the necessary and sufficient conditions for exponential stability of the resulting closed-loop systems are derived. A simulation case study featuring a flexible mechanical system is also presented.

Copyright © 1995 by The American Society of Mechanical Engineers
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