An innovative repetitive control system

The paper proposes an innovative repetitive control system in order to further improve the system performance. This is achieved by introducing another two forward gains besides introducing the low pass filter. The system's stability is analyzed by means of the regeneration spectrum method. The repetitive control system proposed has been implemented in discrete time. Experimentation on a DC servomotor with high nonlinear friction effect shows the better rejection of the nonlinear disturbance compared with the conventional controller.