Robust servo performance of repetitive controller for periodic reference signals

The objective of this work is to validate the servo mechanism property of Repetitive Control (RC) system for periodic reference input in the presence of disturbance and in the presence of time varying parametric uncertainty. The ways of design & implementation of repetitive control system is demonstrated in steps. A similar test have been made having conventional PI-control and compared with RC based P control. Comparisons in terms of performances in both time & frequency (using bode plot) domain are done to show the effectiveness of the RC over the traditional idea.