A self-tuning discrete time repetitive controller comprising a gradient descent disturbance model estima-
tion and a Pseudo Feed Forward(PFF) (Walgama [l]To illustrate the fem'bility of the approach taken it is used for rejecting a periodic disturbance acting on a nonminimum-phase plant.
~ ~~An important assumption here is perfect process knowledge. When this approach applied to a 'real world' process with structural 8s well 8s parametricel deviations from the nominal process model, the characteristic polynomial alters.
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