Robust Preview Control for a Class of Uncertain Discrete-Time Lipschitz Nonlinear Systems

Abstract

This paper considers the design of the robust preview controller for a class of uncertain discrete-time Lipschitz nonlinear systems. According to the preview control theory, an augmented error system including the tracking error and the known future information on the reference signal is constructed. To avoid static error, a discrete integrator is introduced. Using the linear matrix inequality (LMI) approach, a state feedback controller is developed to guarantee that the closed-loop system of the augmented error system is asymptotically stable with H∞ performance. Based on this, the robust preview tracking controller of the original system is obtained. Finally, two numerical examples are included to show the effectiveness of the proposed controller.