Abstract
This paper presents a design method for digital repetitive control systems for a plant with structured uncertainties. A two-degree-of-freedom (TDF) control system configuration has been employed in order to achieve the desired feedback and input-output performance independently. The lowest-order feedback repetitive controller is designed to guarantee the robust stability of the closed-loop system and provide the desired closed-loop performance. Afeedforward repetitive deadbeat controller has been designed to obtain the desired transient response.
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