Design and application of a continuous repetitive controller for rotating mechanisms

In this paper the continuous repetitive controller is designed to reject the periodic disturbance and track periodic reference signal for rotating mechanisms. The stability condition is derived and the system is shown to satisfy the internal model principle, which assures that the control output tracks a class of reference commands without a steady-state error if the generator for the references is included in the stable closed-loop system. In order to satisfy this principle, a periodic signal generator is placed in the feedback loop to reject periodic disturbances and to track repetitive reference signals. The best control method will be chosen from the viewpoint of suitability in the practical problems. Finally, the repetitive control algorithm is applied to both the slider-crank and quick-return mechanisms.