In aerospace engineering and industry, control tasks are often of a periodic nature, while repetitive control is especially suitable for tracking and rejection of periodic exogenous signals. Because of limited research effort on nonlinear systems, we give a survey of repetitive control for nonlinear systems in this paper. First, a brief introduction of repetitive control is presented. Then, aft...

X nx1 system state matrix A nxn state transition matrix (possible time varying) Bnxm input matrix (possibly time varying) U mx1 input of system inputs Uideal mx1 matrix defining the input required to force perfect tracking. Xref nx1 matrix defining the path the states are to follow, periodic in time T. T The period of the repetitive motion: Xref(t)=Xref(t+T) W(t) Basis function for determining ...

Repetitive control is one control algorithm based on the Internal Model Principle (Francis & Wonham, 1976) and has been widely implemented in various applications. A repetitive control based system has been shown to work well for tracking periodic reference commands or for rejecting periodic disturbances. Although the idea has been verified as early as 1981 (Inoue et al., 1981), a rigorous anal...

In this paper, two multirate repetitive controllers are proposed, namely, repetitive intersample disturbance rejection (RIDR) and repetitive perfect tracking control (RPTC). First, in order to develop RIDR, multirate intersample disturbance rejection algorithm is reviewed which was proposed by authors for general digital control systems with restricted sampling frequency. Second, RPTC method is...