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Repetitive controller design for testing table systems based on angular position data storage

Considering high-precise continuously rotating mechanical systems, high operation smoothness is a significant index, which is influenced mostly by the external disturbances acting on the systems. In this paper, the disturbances existing in testing table system, a typical continuously rotating mechanical system, are investigated by experiments. By using frequency spectrum analysis tools, the characteristic of the disturbances is analyzed both in time domain and spatial domain. Accordingly, a repetitive controller based on angular position data storage is presented to reject these kinds of disturbances. Comparisons and simulation results are presented to illustrate the effectiveness of the control design.