n of Repetitive Control

Repetitive controller is usually des constant period of reference/disturbance sig the selection of fixed sampling period. How reference signal and disturbance are v Therefore, sampling period is carefully adj period variation, which makes characteristic changing. Robust design is employed to obtai which stabilizes closed loop repetitive syste sampling period in the known interval. The two steps; constructing a nominal pre designing robust pre-compensator which w range of sampling period variation. In the d plant parameters due to sampling period vari parametric uncertainties. The new form o which works with this robust design is also pr