On the Theory and Design of Linear Repetitive Control Systemsg

Repetitive control of a trilayer conjugated polymer actuator

“…The designed repetitive controller produced excess amount of control jumps in the discontinuous sharp edges of the trapezoidal reference input. This phenomenon is associated with the high frequency components introduced to the control signal by the RC [30]. The amplitude of the sharp peaks gradually decayed and vanished after the fourth period as the RC learned the errors using the previous periods.…”

FES based tremor suppression using repetitive control

“…1 − P (z)F (z) is the relationship between the error in successive periods, and hence the magnitude of 1 − P (e jw )F (e jw ) dictates how rapidly the error diminishes to zero at frequency w. To obtain the fastest learning rate, F (z) should be selected as the inverse of the plant model, so that F (z) = P −1 (z). However, this is often infeasible as the plant inverse may be unstable due to the presence of zeros outside the unit circle that are introduced after discretization with a zero-order hold [17].…”

“…Compensator F (z) is chosen to stabilise the closed-loop system [15]- [17]. Application of the small gain theorem, noting that z −p has unity gain, gives rise to the sufficient condition of stability…”

Robust $$H_\infty $$ H ∞ Repetitive Control for a Class of Linear Stochastic Switched Systems with Time Delay

“…For example, in industrial manipulators executing operations of picking, placing or painting, aerospace craft and robots engaged in hauling, assembly, spraying, the control systems are usually required to track or reject periodic exogenous signals. With the increasingly high demand on the productivity and quality, repetitive control has been extensively used in these fields [8,13,21,27,30,37]. Some results on H ∞ repetitive control for liner systems have been reported in the literature [13,42,43].…”