Discrete-Time Repetitivey Control System Design using the Regeneration Spectrum

The stability, transient response and stability robustness of discrete-time repetitive control systems is examined here using a function of frequency termed the regeneration spectrum. A design procedure for discrete-time repetitive control systems, based on the regeneration spectrum, is outlined and a controller form suggested to effectively handle the trade-off between the different aspects of controlled system behavior. The controller design procedure is applied to an electrohydraulic material testing application characterized by strong nonlinearities, and shown experimentally to be effective in improving the controlled system performance.