Abstract
In many mechanical systems such as robots, machine tools or disk drives the control task is repetitive. In such a case, the reference and disturbance inputs to the system are periodic. This paper considers the design of robust discrete-time repetitive controllers that allow the plant to track the periodic reference input while rejecting the periodic disturbance input. The cancellation of the periodic disturbance implies that a periodic signal generator, or disturbance model, must exist. Two forms of discrete-time repetitive controllers will be examined; those that place the disturbance model inside the feedback loop and those that place it outside the feedback loop. Implementation results demonstrate that a repetitive controller can be used in a plug in fashion to augment an existing controller.
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