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Design of Repetitive Control with a Novel Structure Based on Sensitivity Analysis

Investigated on a testing table system, an improved repetitive controller with a novel structure is introduced to the periodic disturbance rejection in this paper. Based on sensitivity analysis, a controller design scheme with two portions is derived for a better disturbance rejection performance. One portion is adopting a novel structure for a sensitivity optimization, and meanwhile the design can do help to the bandwidth extension of the low-pass filter so that the phase lag caused by the filter is reduced. The other portion is to reject the phase loss by reducing the delay time. Subsequently, an empirical formula is proposed to compensate the phase lag of the filter for a further modification of the controller. Simulation and comparison results are disclosed to validate the effectiveness of the control design.