Two-dimensional repetitive control system design method based on switching EID

The invention relates to the technical field of control theory and application, and provides a switching EID-based two-dimensional repetitive control system design method, which comprises the following steps: S1, designing two-dimensional state feedback control gain of an outer ring structure through N1, N2 and N3; s2, determining a switching mechanism through a time derivative symbol of a normalized membership function, and designing a control gain of an inner ring structure according to a two-dimensional state feedback control gain of an outer ring structure; switching the control gain of the inner ring structure through a switching mechanism to obtain the switched control gain of the inner ring structure; and S3, forming a comprehensive controller by the two-dimensional state feedback control gain of the outer ring structure and the control gain of the switched inner ring structure, and controlling the operation of the two-dimensional repetitive control system based on the switched EID through the comprehe