Self-tuning of repetitive controllers based on generalized minimum variance criterion

This paper deals with discrete time robust repetitive control, for minimum and non-minimum phase plants. The paper is divided in two parts. The first part is devoted to the repetitive control design based on generalize minimum variance criterion. In the second part, self-tuning of repetitive controllers based on generalized minimum variance criterion is proposed. Also analyzed is robustness of the repetitive control system in presence of parametric uncertainties in the plant model. We will show through simulation examples the fast converge of the output signal to the repetitive reference signal (tracking problem), under the proposed self-tuning method