Integral Sliding Mode Disturbance Observer Based Preview Repetitive Control

Abstract

This paper deals with the problem of integral sliding mode disturbance observer (ISDOB) based preview repetitive control (PRC) for a class of nonlinear systems subject to mismatched disturbances and nonlinearity. First, an ISDOB-based PRC law is presented to estimate and compensate the exogenous disturbances and nonlinearity. Next, by using a new equality constraint, a continuous-discrete two-dimensional(2D) system is established. Then, the stability of the combined controller-observer system is derived on the basis of a Lyapunov analysis, 2D system theory and the singular-value-decomposition (SVD) technique. By solving an LMI, the gains of the controller and state observer can be obtained. Finally, two numerical examples are provided to illustrate the effectiveness and superiority of the proposed method.