A Novel Approach to Repetitive Control via Sampled-data H Filters

A new paradigm of digital signal processing has recently been proposed in view of sampled-data control theory. This filter, called sampled-data H∞ filter, approximates a linear phase characteristic in continuous-time domain, that is, a pure delay. By this property, we propose a new repetitive controller including the sampled-data H∞ optimal filter. Moreover, to achieve the stability, we introduce the Internal Model Control (IMC). Our method solves the problem of stability, implementability, and inter sample ripples in digital repetitive control. A numerical example shows the effectiveness of our method.