Design and analysis of plug-in repetitive controller for zero-following performance

Repetitive control is a method to track the periodical signal. This paper proposes a design method of the plug-in repetitive controller based on the architecture in [27]. In such a way, zero following error can be achieved based on the internal model principle. To avoid realizing the inverse dynamics of the plant, a novel controller structure is proposed as the stabilizing filter. It is easy to design and implement. The stability is guaranteed and the robustness is preserved. The simulation and experimental results show its effectiveness.