Adaptation Rates for Repetitive Control Schemes

Dr. Jacob S. Glower Department of Electrical Engineering North Dakota State University Fargo, North Dakota 58105 [email protected] Abstract In this paper, the behavior of several types of repetitive control schemes are compared in terms of their transient behavior and in the number of terms required to accurately estimate the "ideal" input -defined as that which forces the desired output. It is shown that, while all variations behave equally well given an infinite amount of time to adapt and an infinite number of parameters, their behavior in finite time is quite different. Through a computer simulations of a 2-link robot tracing out a square and a circle, it is shown that the number of parameters required for accurate tracking and the adaptation time for a fourier-series-type of repetitive controller can be significantly better than other forms which have been proposed.