On the Design of Discrete Time Repetitive Controllers in Closed Loop Configuration

Abstract

This paper deals with a discrete time repetitive control synthesis for non minimum phase plants. Two parts can be distinguished. The main design features of the repetitive controllers are discussed in the first part. More precisely one shows that one can realize two objectives; tracking with zero error and tracking with nonzero error. In the second part, a suitable plant model identification procedure for the repetitive control is proposed. An adequate input-output identification filter is designed such that the difference between the nominal and the actual repetitive control convergence conditions is minimized. Some illustrative examples are given to highlight the main features of the proposed approach.