From iterative learning control to robust repetitive learning control

In this paper, a robust repetitive learning control (RRLC) scheme is proposed based on the frequency domain ILC design methodologies. A linear phase lead is introduced in the repetitive module to compensate the phase lag and widen the cut-off frequency of Q filter. The periodic disturbance rejection performance of system is improved. The robustness stability and performance of proposed scheme is analyzed and synthesis method are proposed to achieve overall system robust performance. The simulation results of active vibration control of hexapod show that the proposed RRLC scheme can reject periodic disturbances significantly