In this paper, we examine the parametrization of all stabilizing multiperiod repetitive controllers with the specified frequency characteristics. The parametrization of all stabilizing multi-period repetitive controllers, those are used to improve the disturbance attenuation characteristics of the repetitive controller, for non-minimum phase systems was solved by Yamada et al. However, when we ...

An intelligent control method is proposed for control of rigid robot manipulators which achieves exponential tracking of repetitive robot trajectory under uncertain operating conditions such as parameter uncertainty and unknown deterministic disturbance. In the learning controller, exponentially stable learning algorithms are combined with stabilizing computed error feedforward and feedback inp...