Robust disturbance rejection in modified repetitive control system

Rui-Juan Liu, Min Wu*, Jinhua She, Zhuo-Yun Nie, G-P Liu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


This study concerns disturbance rejection for a modified repetitive control system (MRCS) that contains a strictly proper plant with time-varying uncertainties. Since an MRCS is affected by both periodic and aperiodic disturbances, and since the disturbances are often unknown, an equivalent-input-disturbance (EID)-based estimator was added to an MRCS to yield an EID-based MRCS that compensates for all types of disturbances. In this system, the repetitive controller ensures tracking of a periodic reference input, and the incorporation of an EID estimate into the control input enables rejection of unknown periodic and aperiodic disturbances. A robust stability condition for the MRCS was established in the form of a linear matrix inequality, and the condition was used to design the parameters of the controller. This design method handles uncertainties and enables the preferential adjustment of the tracking and control performance of the MRCS. Simulation results demonstrate the validity of the method. (C) 2014 Elsevier B.V. All rights reserved.

Original languageEnglish
Pages (from-to)100-108
Number of pages9
JournalSystems & control letters
Publication statusPublished - Aug 2014


  • Aperiodic disturbance
  • Disturbance rejection
  • Equivalent input disturbance (EID)
  • Linear matrix inequality (LMI)
  • Repetitive control
  • Robust control
  • State observer


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