Low-order sliding mode repetitive control for uncertain linear systems perturbed by band-limited periodic disturbances

Abstract

This article presents a systematic method for designing discrete-time low-order sliding mode repetitive controller for a class of uncertain linear systems. A linear system considered in this class is perturbed by band-limited periodic disturbances and parametric uncertainties. The digital controller design method we propose combines two control strategies, namely the repetitive control and the sliding mode control techniques. The proposed controller is required to be low order and is intended to reject the periodic disturbances with specific dominant frequencies and to establish robustness against plant parametric uncertainties. Moreover, the proposed method yields a repetitive controller with only a small number of delay terms and can perform fast transient responses. We show through mathematical analyses that the linear system applying the low-order sliding mode repetitive controller satisfies sliding mode stability and robustness criteria. In addition, we demonstrate via a numerical example that a servomotor controlled by the low-order sliding mode repetitive controller can track a frequency-shifted triangular signal with a short transient period and minor errors. Other examples are also presented and show that the low-order sliding mode repetitive controller exhibits better performance than other relevant control methods.