Disturbance attenuation in test turntable dynamic unbalance of iterative learning control

The turntable exist multi-period disturbance torque be obtained by setting up the dynamic unbalance model of three-axis test turntable. The multi-period disturbance torque relate to three-axis rotate speed of test turntable. Where presents the system model with position dependent periodic disturbance with only continuous Lipschitz condition imposed, deduces the condition of position dependent multi-period disturbance translating into time dependent periodic steady-state error. A novel iterative learning control method is proposed for attenuation multi-period error of three-axis test turntable, constructed learning operator by error convergence analytic, proposes the condition of compensate multi-period steady-state error, Simulation results verify which can compensate successfully period steady-stat error caused by dynamic unbalance of test turntable system, and proves this method can improve the control precision of test turntable system.