Reduced order discrete extended state observer (RODESO) based repetitive control for rejecting periodic and aperiodic disturbances

This paper presents a reduced order discrete extended state observer (RODESO) based repetitive controller (RC) with application to a piezoelectric actuator (PEA) based nano-positioning system. The RODESO-based RC proposed in this paper is capable of rejecting both periodic and aperiodic disturbances. Moreover, RODESO can be tuned using only two parameters and the model free approach of RODESO-based RC makes it an ideal solution to overcome the challenges of piezoelectric actuator control. Various types of periodic and aperiodic disturbances are used in the simulation to demonstrate the disturbance rejection capability of the proposed algorithm. The comparison studies demonstrate that the RODESO-based RC has superior performance over the phase lead RC.

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