Copyright © 1996 IFAC 2a-14 1

13th Triennial World Congress, Sun Francisco , tJ SA

REPETITIVE CONTROL THEORY AND APPLICATIONS -

A SURVEY
Gllunar Hillerstrolll ",I Kirthi Walgalna··

~ Control E'ngm t:e J'ing Group, Lu/e a Unive rsity, SO - 971 87 Lutea, SWeden
.. ,. Departmrnt of t ;n.qinee.ring ll1athemailCS, Univ ersity ofPeradeniya, Sri Lanka

Absti'8Ct. The aim of t.his paper is to present rep etitive control, controll ers for re-
jecting periodic disturbances or t racking periodic reference signals. This survey covers
bot.h \:ontinuolls and discrete time theory, together with a number of appli cations.

Keywords. Disturbance rejection; Reference trackin g; Nonminimum-pha~e

oystcrns; Lea.rning Control ; Adaptive syst.p,ms

I. I'ITRODUCTlON If the sampling frequ ency is cJlDSen according to Nyquist

The original aim of 7"epetiti1JC control was th e design of
a continuolls time c.ont.r o lh~ r rejecting a periodic distur-
han ce or tracking i"\ periodic reference signal, which wa.">
ba.c;;ed on the know ledge of the pe ri orl t.ime only, When
peri odic inpu t. signals with infinite numb er of harmon-
ics! for example squa.re wave, are considered it is clear
that a finit.e dim ensional con'l'Ol!er i.s noL sufficient.
A seemingly straightforward sollltion is based on the In-
tern al Model Principle (IMP) due to Francis and WOfl-
ham (1976). The controller utilizes, just like Integral
Action , a m odel of t he input. signal to obtaiu '6cro error
asy mptotica.lly. Ln case only the period time is known , a
delay with p os it.i\'~ f~edb ack arolllll..-I it. may be used as
a.n (infinite dimensional) internal uwdcl, to ohtain per-
fect. regulation over a.1l fn~ qllt~ucies (Inaue, 1981 ; Hara
and Yamarnot.o, I!)~;:)).
l?l'om an implementation poi nt of vi ew, t.he delay is re-
alized i.u discret e time as a chain of delay elements; c.g.
(Tomizuka., H)88). In doing 1';° 1 th e (.ontroller becomes
finite dimensional and it reduces t.o a finite dimensional
samp led dat.a problem.
1 The nulhur is partly fund ~d hy the Swedis h National Bl.Il\rd for
Indus trial alld ' I'e chnical Deve l op"JJI~"l, whose finftllciaJ s upport is
Kreatly apprednte d.
(at least twice as fast as t.h e highest domiuating in-
put signa.l frequency) , it suffice with a model of only
the domillating fr~quencies. 'I 'his will give a faster tra n-
sient resp onse and better robustness margin!> tha.n cor-
cesponding time-delay model (HilIerstrom and Sternby
19Y4, 1995). Jn tersample beha.v iour may also be taken
into considera.tion by means of minimizing the power-
norm of Lhe steady-state tracking error (Langari and
Franc;s, 1994, 199~) .
To give a formal definition of repetitive co nt.rol seems lo
be almost as hard as for adaptive control (Ast.rom and
Wittenmark , 1995) . But it. has a close relat.ion to c.g.
the work by (Do,;soll a nd PateL 1988) or (Sa"kin and
Pet.erscn, 19!J5). It may also he seen as a. special case of
the decoupling problem. Regard less of whether the t erm
"repetitive" is used or not, c()flsidering p eriodic signals
in control systems art~ importa nt from an application ,
as well as, from a thco n~tic;tl point of view.
To be historically correct, t.his paper is organized to
present. continuous and discret.e time repetitive cont.ro]
in lI a med order. Finally, a number of applications exam-
ples will he givclI. Three earli(!r works may Le mentioned
in t.his co ntext, Continuos time repetitive control and re-
lat.ed th eoretical problems for infinit.e-dimensional sys-
tems may be found in (Yamitmoto, 1993) , Broberg and
Molyet (1 992b) present a sho,t summary of both theory

1446
and applicat.ions, and Kempf d al. (1993) compare fo ur
discrete time repetitive cont rol schemes for a computer
disc file system . There a re also int.eresting relations to
learning bel..tcrment control (Uchiyama, ]978 ; Arimoto
et al. , 1884: Moore et al., 1992). Bu t rllI e to space li mi -
tations, thcsf" aspects are not. elaborated on here.
2. CONTINUOUS TIME R.~: P£TITIVE CONTROL
The concr:pt of repetit.ive ('.ontrol (then called "controller
for rep et.it.iv(' operation") Wi:l~ origi nally develop ed for
SISO plants in co ntinu ous t ime by Jn oue et al. (1981),
for tra.. king a periodit refereu("e signal with a. known pe-
riod T. Int.ro duciJl~ rh e de lay modd 1/( 1 - e- 3 '1') in the
feedback loo p, resul(,ed in Cl simple co nt.['ol system, Fig. 1
=
with Q 1. t.hat {Ioes perfect a!:iymptoti c tracking of pe-
riodi c references provided closed loop syst.em st.abili ty.
To stabiliu' this loop is, however, a. no n t rivial problem
(lnoue d 0.1. , 19SI.; Ya mamoto alld lI ara, 1988). Sta-
hility analys is in (Hara and Yamamoto , 1985) reveal ed
that, with G(s) as a projwr and stable raLional t.rans-
fer functi u lI, t.he stability could be guaranteed only for
plants P(s) \\'it.h rdative degret' zero (or a. system tha.t
arc prop E'r bUl. not s t rictly proper ) . This restriction is
due t.o the cont-roUer paramet.eri:6at.iol) (Sadegh , 1991 )1
and t.o t.he ullrealistic demand ofperft'cl t. racking for any
periodic sig:na.l, includiug its high frequency contents .
To overcome t.his li mit.alion (IuolLc et at. , 1981a; IIara
d al., 1988) modify t he repet.itive (outroller, by intro-
ducing a lo,," pass filter Q(s ) in t.he delay model (Fig. 1).
Alt.hough some stabilit.y rob ustrwss is a.c hieved with this
modific:a ti on, t.rackiIl!~ pcr forma.nct~ is !;acrificed. A syn-
thesis aJgo rithrn for miuillllun ph<L.~e systems is given in
Rara et al. (L985). In Hara and Yamamoto (19S5) , it
ill ('x tend ed to nOIl-lllininlllm philse plan ts. Their stabil-
it.y a.nalysis shows, in pa.rticula.r , tha.t (Lny low pass tilter
Q(s) sat.isfyi ng IIQU,')II :5 I ('an be used for minimum-
phase syst.Nns. \",hile there are band- width restrictions
on the filtl~ rjlJ)!; for J1011-rniniuulJll pha..~e plants. Hara et
al. (19 R!)) also ill vest,igal es " r epe t.j Li ve controller for a
class of non-linear systems. A system atic and compre-
hem;iv(' treatment of the !;tabihty i'\llalysis and the syn-
thesis of r e petjtivf~ c(]ntrollers is given for multivari ab l~
sY!:it.cms in (Hara d d., 1£)88).
The ilj.$uc of dffiigninJ~ tile low pas. . . filter Q is imporant.
III fact, it is shown that fo r cert.ain cases the repeti-
tive co nl.ro llt· r with filtering does not offer any improve-
ments ovcr the cOllv,~ntional integra l co ntrol (Alter and
Tsao, 1904). In (I'eery a nd l17.hay, W9:l) this iosue is
approach ed hy opl.imizing aJl El '""" cnndition, reflectin g
t he trade off het.ween closed loo p sp ;r.r. m performa.nce
and stability robustness.
As an alt.ernat.iw' to the lowpass filtering, Sadegh (1991)
propo::;es a modified repetit.ivt' controller which includes
1447
all 'unstable part in the lead compensator G(s), to guar-
antee the ..onvergence for a larger class of systems. To
implement this controller, a 81BO stable convolution
integral taken over a finite lf~ ngth window , is utilized.
By using this approach, t.he zero error property, even
for high frequencies, is preserved, There is a poten tial
for further work in this direction , to find performan ce
limitat.ions of repetitive cont.rol systems.
l~~~,:.
,-'--,
. . . G(.)
RepetltlVe part '--,---'
........... . .......... j- a
r+ _e~----_~_~~
1 _ Servo loop
Fig. I. Th e repetit.ive rontroller by Tnoue et al. (1981)
~
In parallel to using the infinite dim ensional delay oper-
ator mod els for repetitive controller design, the use of
finite dimensional Lapla.ce or D operator models is be-
ing explored. It is mot.ivated by that the high frequencies
would get. filtered out. a.n yway wh en passing t.hrough the
process. It is abo seen a.s an illternative to first. includ-
ing an infinite number of modes, and t hen lowpass filter
them away. Hence, in view of that , it can be argued a
finite-di mensional model:! of the periodic reference o r
disturbance, is sufficient. A continuous time polynomial
controller pole placement. desIgn based on the IMP a nd
solving Bezout identity, c,an he developed for processes
that do !lot have process time delays, The methodol-
ogy is similar to self tu ning ('ontrol or model reference
adaptive controller desiglls gjven in (Astrom and \Vit-
tenmark , 1995; Feng a nd Palaniswarui, 1992). Alth ough
the design is straightforward, when th e numher of har-
moni cs is large, the res tllting i:ontroller may have a. "cry
high order.
To track a. single sinusoidal reference Or to reject a single
sinusoidal dist.urban ce wit.h angular frequency w, (Kaze-
l'ooni, HHHJ) casca.de the original plant with the internal
mod el w' /(s2 + w'), an d use LQG/LTR. controller de-
sign for t.h e ~\Igmented plani. . Liu aud Ho (1992) also
use this concept for mUltiple frequ encies, and propose a
design algorithm t.o sntisfy prespecified bounds o n rela-
tive steady stat.e tra.cking error and sensitivity fun ction.
Bot.h approaches has tht~ a.dvantage that no Bezout iden-
t.ity need t.o be solved , MIld III;'lY bc applied to mul t ivari-
able sy:;t.cms, but not for nOD minimum phase systems.
2 1-1'odp.L'>1 nf onlY. nr ma.ny iso lated frequencies , wich also gen a rl'l.liz~
1.0 a larger class of signals than just the periorlic ones.
In the B',ate ~pace a pproach, the basic idea is to dy-
nami cally decoupl€' the plant ~ tat.e from the disturbance
state, by selecting a pproprial.e feedb:u:k and feedforward
controller co nfigurations and , ifnccessary, using observers
for state es timat.ion . If dynamic decoupling is achieved ,
then only th(.~ initia.l -:onditiol1 in t.he disturbance s Late
would t'!ffec t the plant, stat.e.
The subject of dynamic decoupling is extensively dealt
for example ill (Wonham, 198,») ami (Wolovieh , 1974) ,
In Rus~e ll ( 1986), t.he dynamic decoupling is achi eved
by the cumbinat.ion of a reduced order observer, a state
fcp.dback a nd dist.urbance st.ate feedforward controller .
'Vhen the pl a llt. st.at.es are not. measurable, one could.
employ a.n obsen te!' to obtain both plant and distur·
ham·.e st ates. Ru sse ll (198(3) also extend the scheme to a n
adi\pt ive one, where the disturbance period is est imated
when it is unknown . Another method of dynami c deeou-
"ling is prop",ed in Med vedev aLld lIillers trom (1993a) ,
It is ha.-red on a novel continuous time dead beat. ob-
ser ver propoSf>d in Medvedt' v ami Toivonen (1992). T his
cOlltrollt'r is furUIt:' r extended by introducing an dist ur-
bance estilllator ba...;;.ed on t ime delay Ilf~ural networks ,
in Medvedev an d Hillerstrom (lY9:Jb aLld 1995) . The
state spac€' co ntrolkr design pn'scntcd in (Sic-vers and
von Flot.ow, I n .R~) u~t:s t.he ll10dd ohtained by augmen t...
ing the plant model with disLurbance model. The LQG
controller design wit.hFrequency \\'eighting Within the
Cost Func.t.ioll is used to determine the feedback and the
feedforw ard g'iiws. Since all these methods are based on
measured o r t's tiOlat cd dist.urban('e vector t.hey could
also be cn.t.f.gorized as extcrnal mod el repeti t ive con-
t.rollers .
For refe rc n ('.c~ t radin g, instead of using IMP based feed-
hack controllers, a feed forward cOlltrollcr can he de-
signed in a t,-\,O dq.;; r~~ of freedom controller fra.m ework .
Simila.rly, wh en the dist urhances are rneasurable or ('.a n
ue estima.ted , a feed forward conholler can easily be em-
ployed to a rhic.'ve disturbance decollpling. A Ithough, per·
f~ct. referen ce t racking and complet.e disturbance dccou-
pling cann ot. be a chieved in gcn~ral for non m inimum
phase I)t OCCfl8{~S , 1,his is possi hll-' when the signals are pe-
riodi c. A t ime domain sOllltiotl t.o thi::; problem m ay hf.
found in (S Fl.degh , HJ9t). III (Jaya."illriya and Tomizuka,
1992) , a generalized feedforward controller design based
on ortiLogo naiity condition is proposcd for tracking of
referell(,:.es t.hat. r:an be described hy Laplace operator
m o d el!;.
In (Jayasuriya and \VaJga.ma, 1903) th e sam e feedfor-
ward cont ro ll er is ubta ined hy solving a 13ezoul. identity
as it. was proposed in (\tValgama, ]991) for discrete tillle
system s. A more dt'lailcd out.line may be found in the
following sec tio n. These feedfonvard controller designs
could a lso h(' ll sed for dist.urhance decollpling if the dis-
turbaJl ce can be measured or c8 I.illlaj,t ~ d . The direct 50-
lut.ioll of a Bezout idenht,Y gives (~feedforward controller
1448
that demands preview terms of the signal (noncausal).
An observer, for example as proposed in (Medvedev and
HilIerstrom, t993a) could be used to get t.he::;e preview
terms (or derivatives terms).
3, lJISCRETE TIME REPETITIVE CONTROL
Most results, both polynomial and state-space, obtained
in continuous time can be tra.llsferred into discrete time.
The delay model in discrete t.ime is, however, finite di-
mensional. To dist.igllish delay models form models of
isolated sinusiodals, as there will be no finite/infinite
dimensional difference, t..he latt er is denot ed by ..,,\..1.
Al t hough the first repetitive cont,rollers ab ove are devel-
oped ill continuous time, they are implemented digitally.
In (Nakallo and "ara, 1986), a microprocessor imple-
mentation of a repetitive cOlltroller aloug the lines of
[nolle et (1.1.(1981) , is fHt'.8Cnt.r d .
Feedforward compensa t ion, for arbitrary reference sig-
na.ls, using pole/zero cancella ti on is feasIble only for
stablc minimum phase plant::.. For st.able nonminimum
phase plants
the inverse will be unstable, resulting in unbounded com-
pensation signals, With A(z-I)/ B+ (z- ') cascaded, only
the nonminimum phase plallt.. zeros with possible de-
lays d, B- (;;-1) z-d, are left By using preview terms,
substit.ut(> Z-1 by z , and prcfi lt.er th e in put signal with
B - ( z ) Zd a Zero Phase COlllpensation (Tomizuka. 1987 ),
but not unity amplitude, is o btained. This is developed
for t.racking signals with a cer ta in degree of smoothness ,
but it may also be lIsc(.i for periodic reference tracking,
at the expense of an amplit.1Jd e error for the high fre-
quency components. ThiB problem ca n to some extent
be over(.ome by using the technique described. ill (Gross
et at"~ 1991) or the Extend ed Ba ndwidth Zero Phase
Co ntroller (Torfs et at"~ 1992 ), III c""e of a kn own input
signal model (delay or type .1\.1 ), t he non minimum phase
term may be compcnsat.ed. P,!rfec t t racking, zero phase
and unity amplitude, ma.y be accomplish ed by a FIR fil-
ter fcedforward compensator, obtained by solving a Be-
zout identity (Walgama, 1991 ; Walgama and Sternby,
1995). In ('ase of uncertainty in the process time- delay,
a feedforward design is to pl't-fer while it does not jeop-
ardize stability (Middleton et ai" 1989; Hillers lrorn and
Sternby, [995) but res ults only in a time shifted output.
[n an IMP feedback solu t io n one is confronted with
a (usually) large design equ atioll ~ when the plant has
bccn augmented by the inte rnal model (Middlcton et
al. 1985,19S9). lf j,he samplin ~ interval h is sYllchronized
slIch that N samples per period is taken , T = N h , t.he re
will be a finit.e number or poles (e ven if t he cont. inuous
sampled si gnal has infini le balld-widthL due to aliasing.
The delay model 1/ (1 - z- N) included in a stabilized
dosed loop , will give :1.ero erro r at th ~ sa mpling instants
for all s ign a ls ",,·ith t.haL pe riod. If the sampling frequ ency
is chosen too slow t.h{;~ inter-tmmpk ripple may he large,
and if it is too fast. th e number of samples per period
N will grow. The o rder of t.he del ay model will grow
accordingly. g iving a high o rd€r controll€r and large de-
sign equat.io lls. This will no t be t.hp. case for sinusoida l
mod els M (Walgama, 1.09 1; Hillerstra m , 1994) , as they
model a number of fr€: qu c n("il~s. The paralHctcrs, bllt. not
the ord er , will change.
In vole pl acement desig n t here is. a large Ocxibility. 1t is,
however , 1I 0 t obvious Whf 1"f' to plaw I.he poles . As an al-
t.erna.ti ve, linear qu adra ti c design (Led wic h and Holto n ,
199:1), Lll c regeneration spectrum (Shaw and Srinivasa n,
1993), and the solut.ion present.eo for st.able plants in
(Sadegh , IOU!) ) , bas eJ o n frequency respon se of the pl a11 t
P(.:.d at the harmo lli c fr~qllenc ies , :k = e i 'JdIN , k
0 , .' ., N , ma.y be lI5e(L The last. dt-'SiglJ also extends to
MIMO pl . ut s .
There are, hoyvever, som e st.andard tri cks to simplify the
pole pl a cem ent design. Assuming stable and fast pl ant
dYJlamics (if necess ary us ing an int.e rnalloop) the plant.
poles A( Z-l) coulfl b-e left ullaILert'C"l. which reduces the
problem to pla('.illg th e po les of the inLernal model. Plac-
ing th ese p oles radially iuwards th e o pen loop ones, will
cause a damping (error convergen ce rat.e) determine(.l
by the radius. This solution jllt.welucc" (Ji gttal comb fil-
t.ering, and may be o bta ined based o n the gradi ent of
t.he st.ored pl~ riodi c el)utrol a Clion vec t or (Ledwich and
Bolt.on , 19~JI), or by so lving a ~ta.nd<t, rd Hezout ident ity
(Billerstrotl! alld Stern by. 199'lcj.
The stab le plant. zel'o s .8+ may also be introduced as
closed loop po les, ill addit.ion to A . This , together wit.h
the Zero Plwse Compellsatiull of Ilonminimum phase ze-
ros describ ed abovf', results ill the Zero Phase Repeti-
tive Contro ller (Tomizuka t.1 ai., 1988) with modifi ca·
t.ious (Tsa,(J and Tomizuka , 1'i:l88; () ht~w and Tomi:Guka,
19906) . Sta bility is e ns ured by the int.roduced parameter
kr E ]0 , 2 [ named rep f: tit.ive co ntrol ga ill , which a.lso COIl-
t.rols converge nce rat.e. This way no large Dezout desig n
equat.ion has t.o be :-:i o lvnd. It. ('an bp. shown, however,
Lhal thi8 approac.h cannot , ill gl~l]('r;tl , be applied to s i-
nusoidal in t. t~ rnal mo d els .1\.1 , but is t"t~s tri c t e d to the t im e
delay m o de' l (Hillers t.ro lll , 1994) . Thf' d osed loop Systelll
poles a re illlplicit.l y pl aced on a cur ve ins ide t.he unit cir-
cle determined by k,. a nd R- . A rep el.it.ive cont.ro l gain
of kr = 1 gives a dead beat solution, zero error after onc
period.
The Pseud o Feed Forwacd contro lle r ( \Va lgamaalld Sternby,
1991) , is ano t.hpr dea.dbeat. solutioll whi ch utilizes the
FIR filter fecdforwat"d co mp~nsat , i o H t1et:icrihed ab ove,
to cancel o ut. a distur ba nce t'Htirnat.{· a gainst the actua l
disturban ce. This scheme may also b e used wit.h funda-
ment al frequency ad ap ta.tion to form an adaptive feed-
forward concelation scheme (Hillerstrom and Sterllby,
19946). These two schemes IIIay also be categorized as
being extt~ rnal model co ntrollf'Ts. Adaptive schemes based
on t.he delay model for ffdection of periodic disturbanc.es
may be found in (TsaD and Nemani, 1992) and trackin g
of periodi c referen ces in (TsaJ) and Qiau , 1993) .
4. APPLIC;\TiONS
Rep etitive control schemes have proven superior to nOll-
predictive ones (e .g. PI-control) , for a number of a ppli-
cations. Especially if the plan. dynamics includes delays,
much is to be gained by using repetitive schemes , taking
into a ccount the input s ignal phase and waveform . Th e
list of' a.pplications cOltId be made long, but due to space
iirnit aLi on o nly a few are referred here. Repebtive COll-
= trol was firs L llltrodu (",ed in the contro l of a. proto n syn-
chrotroll magnet.ic power supply (Inoue et al., 1981 c) .
It ha."I a lso been applied t.o a \·ompllf,er hard-dis c (Chew
and Tomizuka. 1990a) , C D player (Dotsch et al., 1995),
a peristaltic pump used in dialysis equipment.s and for
pum ping chemicals (Hillerstlom an d Sternby, 1994a ),
robot cOlltrol (Tsai tt al., 1!188; Sadegh el al., 1990),
continuous steel casting (Jol ly et al., 1993) , thickness
contro l in cold rolling (Garimella and Srinivasan, 1994),
noise cancellation (Hn , L995; Micheau et al., 1995) , ac-
tive vibrat.ion compensation (Sicvers and von Flotow ,
1988; lIiIJerstram, 1096), alld attitude sl ..bilization of
satellites (Brollr'rg and Molyd , 1992a; Lawrence et al.,
1994 ).
5. RF:FBRENCES
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1449
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