Discrete-Time Adaptive Repetitive Control and Its Application to a Linear BLDC Motor

In this paper, we propose an adaptive repetitive control algorithm for the system the task of which is repetitive. The feedforward controller in the repetitive control system is modified on-line using the system parameter identifier in order to improve the output convergence. The proposed algorithm is applied to the tracking control of a linear BLDC motor to which a periodic reference input is applied. It is illustrated by simulation results that the proposed adaptive repetitive control method yields better control performance than existing repetitive control even when modeling errors exist.