This paper deals with an iterative learning control law for multivariable systems. The desired inputs are supposed to be known and periodic. The principle of the control is to make outputs as close as possible to desired inputs at each new period. After the design of multivariable repetitive controller, we give the stability condition of the algorithm and some simulation results.

In this paper, a filtered repetitive controller (FRC) is proposed for robot manipulator tracking. Error dynamics are obtained first, leaving an unknown periodic signal to be compensated. A new model to describe the periodic signal is proposed then. By this model, an FRC is designed to compensate for the unknown periodic signal. The resulting closed-loop error dynamics are analyzed with the help...

We investigate some robustness compromises involved in achieving attenuation for periodic disturbances. We consider asymptotic rejection or attenuation of disturbance harmonics and transient response.

A filtering technique based on frequency aliasing which was initially developed for Iterative Learning Control is modified so that it can be implemented in real-time and is suitable for Repetitive Control. The aliasing technique is experimentally verified on a gantry robot facility, which manipulates payloads from a dispenser onto a constant velocity conveyor. A parallel arrangement consisting ...

Repetitive control that asymptotically tracks or rejects periodic signals has been widely used in many applications. For linear time invariant system, this problem has been thoroughly studied and solved. This paper presents the analysis and synthesis of repetitive control algorithms to track or reject periodic signals for linear time varying systems. Both continuous and discrete time domain res...

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 outpu...

The Sliding Mode Control (SMC) is well known by its robustness to parameter uncertainties or external disturbances. The repetitive control (RC) is able to track or reject periodic and multi-periodic signals. This paper presents a new control strategy as a combination of a Sliding Mode approach and Repetitive Control to reject periodic and multi-periodic disturbances in the case of nonlinear mul...