Disturbance Observer-Based Repetitive Control System With Nonminimal State-Space Realization and Experimental Evaluation

This brief develops a disturbance observer-based repetitive control system using non-minimal state-space (NMSS) realization where all state variables correspond to the system’s input and output past values. Tracking periodic reference signal or rejection of is achieved by including observer estimate an containing same frequency characteristics. new approach differs from previously published designs because it separates design procedure into two tasks: first, stabilization via feedback control; second, independent incorporation modes estimation disturbance. Moreover, naturally contains anti-windup mechanism when reaches its maximum minimum value. Results experimental evaluation are given, comparison against that constructs minimal controller observer. These results demonstrate method can deliver significant performance improvement, with excellent tracking.