Disturbance restraint in turntable dynamic unbalance based on adaptive finite-dimensional repetitive control

In order to eliminate effectively periodic disturbance caused by dynamic unbalance of three-axis turntable. This paper proposed an adaptive finite-dimensional repetitive control to eliminate periodic disturbance with uncertain frequency, An adaptive algorithm with periodic disturbance frequency identification on line is applied and finite-dimensional repetitive controller parameters are adjusted to eliminate disturbance. The convergence of the algorithm and the stability of the system are proved by averaging method. Simulation results verify the proposed scheme can eliminate effectively periodic disturbance and improve the localize precision of three-axis turntable.