Design of Robust Optimal Feedforward Controllers for Periodic Disturbances

This paper proposes a new methodology to design robust optimal feedforward controllers for the attenuation of periodic disturbances in the presence of parametric plant uncertainty and uncertainty on the period of the disturbance. The controller is parameterized as a finite impulse response sequence and a robust optimization problem is formulated to compute its parameters. The robust optimization problem is converted into a semidefinite program by the use of the generalized KYP lemma. The potential of the proposed framework is demonstrated on simulation through comparison with two feedforward approaches from literature.