Robust preview tracking control for a class of uncertain discrete-time systems

Abstract

The robust preview control problem of uncertain discrete-time systems satisfying matching conditions is considered. First, for the nominal system, we use the difference between a system state and its steady-state value, instead of the usual difference between system states, to derive an augmented error system that includes the future information on the reference signal and disturbance signal to transform the tracking problem into a regulator problem. Then, the robust controller design problem based on the optimal controller of the augmented error system is proposed for uncertain system. And the proposed robust preview control law is obtained in terms of the linear matrix inequality (LMI) technique and the Lyapunov stability theory. Bringing the resulting controller back to the original system, a controller with preview actions achieving robust tracking performance is presented. The numerical simulation example also illustrates the effectiveness of the results presented in the paper.

Keywords

• uncertain discrete-time system
• augmented error system
• robust control
• preview control
• lmi
• integrator