Abstract
As a high-precision control method for periodic signals, repetitive control has been widely investigated from both theoretical and practical sides. Since a repetitive control system contains two completely different actions: continuous control within each repetition period and discrete learning between periods, exploring the best combination of these two actions may provide us with a potential to achieve higher levels of performance. For this reason, we devised a two-dimensional repetitive control method that features preferential adjustment of control and learning actions. On the other hand, there are aperiodic disturbances in a repetitive control system. It is a challenge to reject such kinds of disturbances. To solve this problem, the equivalent-input-disturbance approach is integrated into a two-dimensional repetitive control system to improve disturbance-rejection performance. This section explains the concepts of two-dimensional repetitive control and an equivalent input disturbance and then shows how these two concepts are combined to construct a high-precision control system.
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