Linear system theory (2nd ed.)
Linear system theory (2nd ed.)
Paper: The internal model principle of control theory
Automatica (Journal of IFAC)
Brief Repetitive control for systems with uncertain period-time
Automatica (Journal of IFAC)
Computer control under time-varying sampling period: An LMI gridding approach
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
IEEE Transactions on Education
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Digital repetitive control is a technique which allows to track periodic references and/or reject periodic disturbances. Repetitive controllers are usually designed assuming a fixed frequency for the signals to be tracked/rejected, its main drawback being a dramatic performance decay when this frequency varies. A usual approach to overcome the problem consists of an adaptive change of the sampling time according to the reference/disturbance period variation. However, this sampling period adaptation implies parametric changes affecting the closed-loop system behavior, that may compromise the system stability. This article presents a design strategy which allows to compensate for the parametric changes caused by sampling period adjustment. Stability of the digital repetitive controller working under time-varying sampling period is analyzed. Theoretical developments are illustrated with experimental results.