A new switching repetitive controller for periodic and transient non periodic disturbances rejection

In this paper we propose a new control scheme with the following properties: periodical output disturbances are canceled using a repetitive controller, the reference tracking is performed using a feedforward controller which is decoupled from the feedback loop using a simulated model of the system and the rejection of non-periodic disturbances is improved by using a standard feedback controller and a switching control law to avoid undesirable repetitions. The approach is valid for stable (also with integral effect) minimum phase systems. It has been designed for medical robotics applications and applied successfully on a real medical robotic system for breathing compensation.