Analysis and Synthesis of Discrete-Time Repetitive Controllers

[+] Author and Article Information
Masayoshi Tomizuka, Tsu-Chin Tsao, Kok-Kia Chew

Department of Mechanical Engineering, University of California, Berkeley, CA 94720

J. Dyn. Sys., Meas., Control 111(3), 353-358 (Sep 01, 1989) (6 pages) doi:10.1115/1.3153060 History: Received September 21, 1987; Revised September 07, 1988; Online July 21, 2009


Repetitive control is formulated and analyzed in the discrete-time domain. Sufficiency conditions for the asymptotic convergence of a class of repetitive controllers are given. The “plug-in” repetitive controller is introduced and applied to track-following in a disk-file actuator system. Inter-sample ripples in the tracking error were present when the “plug-in” repetitive controller was installed. The performance is enhanced, however, when the zero-holding device is followed by a low-pass filter or replaced by a delayed first-order hold.

Copyright © 1989 by ASME
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