Grey Prediction PID Controller with Repetitive Control

Incorporating the grey prediction,repetitive control and the conventional PID control,a design method of the grey prediction repetitive PID control algorithm was presented.This control algorithm can be divided into three steps:to estimate unsure parameters and disturbance of system using grey prediction,to compensate PID control in terms of the prediction results,and then to add repetitive control for controlling cyclical motion.The simulation results show that this algorithm has better performances than that of the conventional repetitive control system.