Continuous-Time Filtered Repetitive Control with Nonlinear Systems: An Additive-State-Decomposition Method

Error dynamics are often required for nonlinear systems using an adaptive-control-like method. However, this requirement restricts the applications of repetitive control (RC, or repetitive controller, which is also designated as RC) and fails to emphasize the special features and importance of RC. Moreover, it is difficult and also computationally expensive to derive error dynamics for nonminimum-phase nonlinear systems, especially when the internal dynamics are subject to an unknown disturbance. Therefore, there are very few RC works on nonminimum-phase nonlinear systems.

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