Robust Repetitive Control Design and Its Application on Linear Servo Systems

摘要

A robust design method of the discrete-time plug-in repetitive control system is proposed. By modifying the stabilizing compensator, the robustness of the repetitive control system can be well ensured together with the zero-following error performance. The design method is simple and straightforward. Meanwhile, a novel robustness criterion for the discrete-time repetitive control system is introduced, and theoretical analysis is taken to compare the robustness of the proposed controller with the widely used zero phase error tracking controller (ZPETC). The proposed repetitive controller is implemented in a linear servo system. Simulation is performed to verify the theoretical analysis, and the experimental results show the effectiveness of the proposed controller.