This work proposes a new repetitive controller for discrete-time finite-frequency positive-real systems which are required to track periodic references or to attenuate periodic disturbances. The main characteristic of the proposed controller is its passivity. This fact implies closed-loop stable behavior when it is used with discrete-time passive plants, but additional conditions must be fulfilled when it is used with a discretetime finite-frequency positive-real plant. These conditions are analyzed and a design procedure is proposed.
CitationCosta Castelló, R.; Wang, D.; Griñó, R. A new passive repetitive controller for discrete-time finite-frequency positive-real systems. A: Proceedings of the 45th IEEE Conference on Decision & Control. [Piscataway, NJ]: IEEE Control Systems Society, 2007, p. 4429-4434.
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