Repetitive control design of simulation turntable based on integral sliding mode

Considering the reference input signal and disturbances of simulation turntable system are periodic, a design method of the repetitive control system based on the integral sliding mode is proposed to improve the tracking performance and robust performance for turntable system. Due to there existing uncertainty in the turntable system, the turntable system is extended to an uncertain system with mismatching uncertainties. A sufficient condition of system stability is derived in terms of a linear matrix inequality (LMI), and based on this condition, an iterative algorithm is presented to calculate the large cut-off angular frequency of the repetitive controller and the parameters of the stabilizing controller. Finally, the validity of this proposed method is verified by a simulation table system.