A new method for synthesizing multiple-period adaptive-repetitive controllers and its application to the control of hard disk drives

This paper introduces a new method for synthesizing multiple-period repetitive controllers. The main innovations in the synthesis procedure presented in this article are two. The first one is that this technique yields a solution compatible with the integration of the computed multiple-period repetitive controller into a minimum-variance adaptive control scheme. The second innovation is that the solution is periodrecursive, reducing the complexity of controller synthesis considerably when compared with other methods available in the literature. To exemplify the synthesis procedure, a multiple-period repetitive controller is designed and integrated into an adaptive–repetitive control scheme used in the trackfollowing control of a commercial hard disk drive. Experimental results show the effectiveness of the presented approach. © 2010 Elsevier Ltd. All rights reserved.