Repetitive control
Repetitive control uses a time delay element in a feedback loop to reduce tracking error for systems with periodic reference or disturbance inputs of known period. The SISO continuous-time and discrete-time repetitive control architectures and design methods based on minimising mixed sensitivity at the fundamental periodic frequency and its harmonics are introduced in this chapter. The chapter also has COMES toolbox design examples. The first example is on an AFM application while the second example is on a Quanser QUBE™ servo system application.
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