Abstract
Repetitive control is an effective method for reducing periodic errors in motion control applications. However, repetitive control systems are commonly prone to two issues: (1) large transient error during learning cycles and (2) limited ability to deal with complex signals. In this paper, we sought to address both of these concerns by presenting a synergetic repetitive control system comprising proportional-integral-derivative control, repetitive control, and linear plant inversion-based feedforward control to achieve high-performance precision motion control. This study focuses on the synergetic effects of combining these three control actions and compares the resulting performance with a traditional plug-in repetitive control system. Experiment results using a piezoelectric actuator system for the dynamic tracking of complex motion profiles validate the effectiveness of the proposed method.
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