Abstract
In this paper, a repetitive control scheme for a class of Hamiltonian control systems is proposed. The proposed method is based on the symmetric property of the variational systems of Hamiltonian systems. It does not require precise knowledge of the plant system. A repetitive control framework is proposed to solve an optimal control problem with a certain cost function generating a periodic optimal trajectory. In addition, numerical simulations of a 2- link robot manipulator demonstrate the effectiveness of the proposed method.
