Abstract
This paper proposes a generalized design procedure for repetitive current controllers to obtain good disturbance rejection properties and well behaved and robust system dynamics. Based on an accurate discrete time model different implementation options for repetitive controllers are discussed leading to an intuitive control structure, which allows a simple control design. It will be shown that any desirable dynamics can be achieved by adjusting one parameter only. Even dead beat design is theoretical possible. The impact of model inaccuracies and numerical errors on the dynamics and stability of the system will be investigated. Based on the analysis methods are reviewed to handle these challenges. Simulations and experiments verify the proposed control structure and design concept.
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