UDE repetitive control for estimation of harmonic disturbances with time delay UDE based controller

The uncertainty and disturbance estimator (UDE) and time delay control (TDC) are common techniques in the design of robust control systems. A robust control method based the combination of both control methods called Uncertainty and Disturbance Estimation Repetitive control (UDER) is proposed in this paper. When the proposed robust controller is utilized, closed loop performance remains nearly nominal throughout the whole operation range. Simulation results confirm theoretical issues.