The design of a self improving PID controller with a Repetitive-Control plugin

Repetitive Control (RC) is an application of internal model principle in control systems with periodic signal. RC can be easily tuned but very sensitive to noise or high error. However, PID control performs better in the presence of noise and high error but uneasily to fine tune. In this paper, a method to use advantages of PID and RC controller implemented with RC plugin for helping PID controller decreasing error from last period while still using PID controller for handling with noise and high error.