2011 First International Conference on Informatics and Computational Intelligence
Adaptive Repetitive Control of System Subject to Periodic Disturbance with Time-
Varying Frequency
E.Kurniawan, Z. Cao, and Z. Man
Faculty of Engineering and Industrial Sciences
Swinburne University of Technology
Hawthorn, Victoria - 3122, Australia
Emails: ekurniawan@groupwise.swin.edu.au, zcao,zman@swin.edu.au
Abstract—Repetitive Control (RC) has been widely used to
track/reject periodic signal. However, RC alone fails to track
any non-periodic reference signal. Another control scheme
such as Model Reference Control (MRC) or Model Reference
Adaptive Control (MRAC) is required to do such task. MRC is
employed when the plant parameters are known, while MRAC
is used when the plant parameters are unknown. Therefore,
MRC/MRAC needs to be combined with RC in order to
simultaneously track any reference signal (not necessarily
periodic) and reject the periodic disturbance. The design of RC
mostly assumes the constant frequency of disturbance which
leads to the selection of a fixed sampling period. In practical,
disturbance is possibly time-varying in frequency. The
sampling period has to be carefully adjusted in order to keep
the number of samples per period remains constant. This
sampling period adjustments change the plant parameters.
This paper proposes the design of MRAC combined with RC
for system subject to periodic disturbance with time-varying
frequency. As a preliminary, the design of MRC combined
with RC is also discussed here.
Keywords-component;MRC;MRAC;RC;adaptive;sampling
period; parameters
I. INTRODUCTION
The well-known use of Repetitive Control (RC) is to
track/reject periodic signal. RC is originated from the idea
of “Internal Model Principle (IMP)” by Wonham and
Francis[1]. The IMP behaves as generator of periodic signal
which is able to cancel periodic disturbance. Inou et al [2]
originally formulated repetitive controller which deals
periodic disturbance with known frequency. The discrete –
time RC mostly designed by assuming constant period of
disturbance which leads to the selection fixed sampling
period. In practical, disturbance is possibly time-varying in
period. Such a disturbance where its frequency is time-
varying in nature appears on compact disc mechanism [3],
vibrations control[4], and active suspension system[5]. If the
sampling period remains fixed, the tracking performance will
significantly decay. One of the solutions is to adapt the
sampling period as proposed in [6]. Cao et al [6] proposes
digital PLL-based RC, where the sampling period is locked
to the period of the reference/disturbance signal. The
sampling period is adjusted to keep the number of samples
per period remains constant. This sampling period
adjustments change the plant parameters. Due to the time-
varying sampling period, the plant model can be classified as
a special class of LTV system, which is the class when the
978-0-7695-4618-6/11 $26.00 © 2011 IEEE 185
DOI 10.1109/ICI.2011.38
Authorized licensed use limited to: Columbia University Libraries. Downloaded on May 11,2020 at 13:06:23 UTC from IEEE Xplore. Restrictions apply.
plant parameters experience jumps and the values between
two consecutive jumps are constant.
RC alone fails to track any non-periodic reference signal.
Another control scheme such as MRC or MRAC is required.
Both MRC and MRAC are widely used to track any
reference signal (not necessarily periodic). MRC is employed
when the plant parameters are known, while MRAC is used
when the plant parameters are unknown. MRC and MRAC
scheme have been well-developed and intensively discussed
in [7-10]. Slotine [7] highlights the continuous-time MRAC
for nonlinear system. Continuous –time MRAC with robust
adaptive laws has been presented in [8]. Robust adaptive
laws in [8] refer to adaptive laws that are robust with respect
to wide class of disturbances and model uncertainties. Tao
[9] presents the fundamental theory of both continuous and
discrete –time MRAC which focuses on controller structure,
error model, adaptive law, stability and robustness analysis.
Ioannou [4] shortly discusses discrete MRAC and special
class of MRAC which is adaptive one-step-ahead control.
Most of the works on MRAC deals with general LTI
plants [8]. Therefore, MRAC for class of LTV systems is
still an open area in adaptive control [9]. An adaptive control
of special class of LTV has been investigated in [11-14].
Tsakalis et al [11-14] propose the MRAC for the plant when
their parameters vary slowly with time and when the plant
parameters experience sudden jumps but the discontinuities
occur over sufficient interval of time.
The tracking performance of MRC/MRAC alone is
significantly degraded in the presence of periodic
disturbance. The tracking error shows periodicity as a result
of periodic disturbance. The conventional MRAC is robust
with respect to  disturbances, while MRAC with modified
adaptive laws, e.g. parameter projection, dead-zone, is robust
to uncertainties and any bounded disturbances [9]. MRAC
with modified adaptive laws ensures the boundedness of the
closed-loop signals. However, it fails to achieve zero
tracking error in the presence of periodic disturbance.
Therefore, MRC and MRAC need to be combined with RC
in order to simultaneously track any reference signal and
reject the periodic disturbance. This paper proposes the
design method of MRAC combined with RC for a special
class of LTV system subject to periodic disturbance with
time-varying frequency.
This paper is organized as follows. Section 2 presents the
design of MRC with RC. The matching equation to obtain
true controller parameters together with stability proofing of
the structure are discussed here. Section 3 covers the design
MRAC with RC to reject periodic disturbance with time-
varying frequency. Numerical examples and simulation
results are in Section 5. Section 6 draws the conclusion.
II. ADAPTIVE REPITIVE CONTROL WITH KNOWN
PLANT
The idea of discrete-time MRC is to design control law
for the known plant  such that the closed-loop signals
are stable and the plant output  
 tracks the reference θ 4*
The parameters ,-( 6 ,( 6 L$,1( are the solution from the
matching equation (8). As the plant parameters are known,
the true parameter vector , ( can be calculated directly.
In the presence of periodic disturbance, MRC alone fails
to achieve perfect tracking. Repetitive control (RC) is
required to reject periodic disturbance. The structure of MRC
combined together with RC is shown in Fig.1
¦ ¦ ¦
model output 
.
The plant output  
 is expressed in this following θ1*T α (z)
Λ(z)
form k rc
z −N
1− z −N
 

 
  
 (1) θ2*T α (z)
 Λ(z)


(2)

θ 3*
Let write  
 as the ideal plant output, is the output
when the disturbance is not exist.
 

 
 (3) Figure 1.Block diagram of Model Reference Control (MRC) combined with
The reference model output 
 is generated from LTI Repetitive Control (RC)
model as follow
 

 
 (4) The proposed digital RC has the following form
  cde )7
 

  (5) ^_+ 
`a
b
_+ f g & h (9)
 -5cde
Several assumptions are made to design MRC control where
scheme here. -
*
 > l (10)
(A.1)  is minimum phase plant.  ,  are co- ijk
prime Monic Hurwitz polynomials. *being the number of samples per period, mn being the
(A.2) The degree of is known. Let
!. frequency of disturbance, and o being the sampling
(A.3) The sign of
,"#$
, is known period
(A.4) The degree of %  is less than the degree of . Similar to the design of repetitive control in general
% 
& ' 
! feedback system, the discrete-time RC consists of the
(A.5) The relative degree !(
! ) & is known internal model and compensator [15-18]. The internal model
(A.6) The relative degree of the plant is equal to the ` behaves as generator of periodic signal which cancel
relative degree of reference model the fundamental frequency and all of harmonics up to
%  ) * 
 )  Nyquist Frequency, while compensator a works to
Supposed + 
 is the control law generated from MRC stabilize the closed-loop system. Unlike in [15-18], where
/ /
+ 

,-(.   ,(.   ,1(   ,2(  (6) the compensator is designed to resemble the inverse of the
0 0
where plant, the compensator a here is simply the inverse of
3
 45 6  451 6 6 7 . 89:! ; < the reference model. If the reference model is strictly
3
=89:!
= proper, then the compensator is definitely improper.
,1( 6 ,2( > ?- @ ,-( 6 ,( > ? 45- ,, (
,-( 6 ,( 6 ,1( 6 ,2( . However, this compensator is still realizable as it is
A#"B9$#CDE:F#GHI9JK$9B#LJ98:! ) 7 cascaded with the internal model which has * relative
, ( is a controller parameter vector to be designed so that degree. Therefore, this discrete-time RC is guaranteed to be
the closed-loop transfer function from 
 to  
 is equal in proper form. To determine an integer * , a priori
to  . The controller parameters ,-( 6 ,( 6 ,1( 6 ,2( are chosen knowledge regarding the frequency of disturbance is
to satisfy the following transfer function matching required.
MNO( The control law generated from RC is formulated as
RS RSVS
  (7) follows
-5NP(Q 5NU(Q 5NW( M
TS
X
TS
_+ 

^_+ p
 (11)
Choosing,2(
, and A
AZ *  the matching where p
 is the tracking error
XY
equation becomes p

 
 )  
 (12)
[,-( 3 )
,( 3 )
,1( A\ The total control law coming to the plant is  


A )  AZ % ]  

 + 
  _+ 
 (13)
where Applying control law  
 to the plant  gives the
AZ #"B9$#CDE:F#GHI9JK$9B#LJ98:!0 plant output  

!0
! ) 7 ) * 

186

Authorized licensed use limited to: Columbia University Libraries. Downloaded on May 11,2020 at 13:06:23 UTC from IEEE Xplore. Restrictions apply.
 (r 3stY 5nu (r 3 - -
  q,7  ,<     ,1(   …X†‡X5Š- p   ˆ ) …X5- 
†‡X5 p  ˆ (28)
AM A „ „
-  
q[- 
 ) €- 
\ ) [- 
) * ) €- 
) *\ w (29)
,2(   ^v pw   (14) „
Applying two important properties;
/tY /MtY
 ) ,-(. ) ,(. ) ,1(   
 
) *   - 
 - 
) *
0 0
/  €- 
 ) €- 
) * p
) *
,2(   ^_+ p
 ) x,-(.  7y  (15)
0
MNO( 7  
  € 
 ) €- 
) * ) <- 
€- 

-5NP(Q
RS
5NU(Q
RSVS
5NW( M < -
TS TS <- 
) *€- 
) * (30)
Mz{| 
-
[€- 
 ) €- 
) *\[€- 
  €- 
) * ) <- 
\
 RS RSVS p „
(31)
-5NP(Q 5NU(Q 5NW( M -
TS TS p
) *[)<p
) *  €- 
 ) €- 
) *\ (32)

- / -
) RS RSVS x,-(.  7y  (16) p
) *)<p
) *  p
) *  (33)
-5NP(Q 5NU(Q 5NW( M 0 
TS TS „ 
) x7 ) y p 
) * (34)

„ 
Substituting (7) into (16) This implies that for x7 )  y ‹ =  p
 >   and for
finite
p
 converges to zero.
X{| cde }  / 
   ) p x,-(.  7y  (17)
NO( -5cde MNO( 0
III. ADAPTIVE REPITIVE CONTROL WITH UNKNOWN
Denote ~ is equal to PLANT
}  (. /
~ ( x,-  7y (18) In general, the objective of discrete-time MRAC is to
XY NO 0
The facts that  ,  are co-prime and both obtain control signal  
 for the plant with  unknown
L$A are monic hurwitz polynomials, ensure that such that the closed-loop signals are stable and the plant
~ is a stable transfer function. In addition, Assumption output  
 tracks the reference model output 
. In the
(A.6) guarantees the properness of~. design of MRAC, Assumptions (A.1) - (A.6) similar to in
Let write - 
 as the filtered
, where the periodic MRC design are also made.
property of 
 appears, but the magnitude and phase of Let the continuous plant model Πis known, and

 change. 6 6 ^6 % represent the continuous time state space
- 
 ~
 (19) ofŒ, i.e.
X Œ %  ^Œ` ) 5-  (35)
Substituting (17) into (12) and using,2( , the error
XY
equation p
 can be obtained The discrete plant model, is given by the equation
XY X{| cde
p
 ~
 ) p
 (20)  %  ^Œ` ) n 5- n
X -5cde (36)
cde i i †
p
 - 
 )  de p
 (21) wheren o p ,n o Z p ˆ
-5c
p
 - 
 ) €- 
 (22) , and o is the sampling period.
where Suppose Πis a !-th order system, the discrete model
XY X{| of Πcan be rewritten as
 (23)
X
cde ŽP i dP ŠŽU i dU ŠŠŽ i
€- 
  de p
 (24)    (37)
-5c Š‘P i dP Š‘U i dU ŠŠ‘ i
Signal €- 
 can be viewed as the estimation of - 

which has an updating rule as follows (37) shows that parameters ’6‡“-6”664• and –6‡“-6”664• are
€- 
 €- 
) *  p 
) * (25) functions of the sampling periodo. Due to the presence of
periodic disturbance with time-varying frequency — 
 ,
Lemma 1: The control law in (13) ensures thatp
 >  , the sampling period o is changed to keep the integer number
which also means that p
 converges to zero in the * remains fixed. This leads to time-varying sampling period.
finite
,J#BX‚ p
 = As a result of time-varying sampling period, the discrete-
Proof: Given a positive definite function ƒsp
u time plant model  can be treated as a special class of
- LTV, a class of TV plant with jump parameters[12, 14]. This
ƒsp
u …X5- 
†‡X5 p  ˆ (26) discrete LTV system can be rewritten as
„
6X
The time increment of ƒsp
u,‰ƒ is 6


 (38)
6X
ƒsp
 7u ) ƒsp
u (27) where

187

Authorized licensed use limited to: Columbia University Libraries. Downloaded on May 11,2020 at 13:06:23 UTC from IEEE Xplore. Restrictions apply.
 6
  45-  –- 
 45    –45- 
 (39) which ensure the robustness. We choose Normalized Least-
6
  4  ’- 
 45-    ’4 
 (40) Square adaptive law with parameter projection for ,

Suppose the sampling periodo, takes uncertain values in
"#$
¦ §X5-¨X©X
the interval o > o˜ 6 o™ š › Š , where o˜ 6 o™ are the ,
 7 ,
   mN 
 (45)
U X
permissible lower and upper sampling period. At the lowest
and highest sampling period, the discrete plant model  «X5-¬X©X
is still stable and minimum phase. ª
 7 ª
   m­ 
 (46)
U X
The parameters 
 , ’6‡“-6”664• , and –œ6œ‡“-6”6645-• in where
§X5-¨X¨Q X§X5-
(38-40) are bounded for all the time but when the sampling ®
 ®
) 7 ) (47)
U X
period o changes, those parameters jump to the new ¯
  ®464 
 (48)
constant values. The sampling period may changes at
& 
 7  ° . 
®
) 7°
 (49)
time œ6œ‡“-66ž6‚• , and the minimum time between °
  ¡
 (50)
changes,4 œŠ- ) œ is not necessarily short. 6
 is ±
  , . 
¡
 ) , . 
°
 (51)
assumed to be stable and minimum phase for every interval ²
  
 )  
  ª
±
 (52)
rœ [œ 6 œŠ- \6 Ÿ “76<6 ž 6  •. = #8,œ ) µN³  > ,œ˜ 6 ,œ™
We are aiming to design control signal  
 for the TV ™
mN³ 
 ´,œ ) ,œ ) µN³  #8,œ ) µN³  ‹ ,œ
™ ¶ (53)
plant 6
 shown in (38) subject to periodic disturbance ˜
,œ ) ,œ ) µN³ #8,œ ) µN  ' , ˜
— 
 such that the plant output  
 tracks the reference ³ œ

model output 
. MRAC combined together with RC is = #8ª ) µ­  > ª˜ 6 ª™
™
employed here to achieve such task. The structure of the m­ 
 ´ª ) ª ) µ­  #8ª ) µ­  ‹ ª™ ¶ (54)
proposed scheme is shown in Fig.2 ª˜ ) ª ) µ­ #8ª ) µ­  ' ª˜
§X5-¨X©X
µN 
 (55)
U X
«X5-¬X©X
µ­ 
 (56)
U X
,œ 
 is Ÿ-th component of ,, Ÿ 76 ” ” ” 6<!
,œ˜ 6 ,œ™ are the lower and upper bound of ,œ 

θ T (k )ω(k ) ¦ ¦ ª˜ 6 ª™ are the lower and upper bound of ª

£(¤¥ > ,· 6 , ,ª(¤ > ª· 6 ª
ε (k ) ¥
The control law generated from RC is formulated as
ε (k ) z−N ¦ ρ (k ) ¦ follow
krc
1−z−N θT (k)
φ (k ) _+ 
 ^_+ ²
 (57)
ε (k ) where ^_+  is similar to (9)
The control law in (41) with adaptation law (45)-(46)
Figure 2. Block diagram of MRAC combined with RC ensures that ,
6 ª
6 L$p
 > ‚ . They are bounded
for all the time , and the tracking error p
 exponentially
The control signal fed to the plant is formulated as decay to zero between two consecutive jumps as long as the
follows interval is relatively large.

 
  ‘+ 
  _+ 
 (41)
Let ‘+ 
 is a control signal generated from MRAC IV. SIMULATION
block We now perform simulation to verify the controller design
‘+ 
 , . ¡ ,-. ¡-  ,. ¡  ,1   ,2  (42) proposed in Section 2 and 3. The plant model is LBS (Laser
where Beam Stabilizer) servomotor, of which the stabilized closed-
,
 ,-. 6 ,. 6 ,1 6 ,2 .    (43) loop continuous transfer function is known
. / / . 77
¡
 ¡- 6 ¡ 6 6    6  6  6  (44) Œ
¢ ¢ =”=¸Œ   Œ  77
,
 is the estimate of £(¤¥
, and £(¤¥ is the true To verify Section 2, a priori knowledge regarding the
parameters vector at time interval rœ frequency of the disturbance mn is required. Suppose the
For each interval rœ , the plant parameters 
6 ’ 6 L$–œ periodic disturbance 
6 
 =”<"#$<¹ . We
choose the sampling period o =”=¸Œ that gives the
are unknown. Therefore, the true parameters £(¤¥ cannot be
discrete plant model 
calculated from the matching equation (8). We need =”7º»  =”7¼]
adaptive law which quickly update the parameters ,
 and  
  ) 7”=¼½  =”¼½]

188

Authorized licensed use limited to: Columbia University Libraries. Downloaded on May 11,2020 at 13:06:23 UTC from IEEE Xplore. Restrictions apply.
and the internal model of RC as follows Given a not sufficiently rich reference signal 
6 a
H 5Z constant signal as shown in Fig 4a. The tracking output of
`
_+ the plant subject to disturbance— 
, is shown in Fig 5a.
7 ) H 5Z
Let choose the reference model is just a unit delay  Figure 5b shows the tracking error of MRAC-RC
-
, andA  , then the true parameter vector , ( which scheme. At discontinuities, the error signal experiences
 relatively small spikes, then it decays to zero. These results
solves the matching equation (8) is
verify the effectiveness of the design in Section 2 and 3.
,-( )=”Á»
,(
, ( ¾ ( ¿=À 7”º¸ Â
,1 )¸”»Á
,2( ¸”<½
X{|
Let choose
_+ that satisfiesx7 ) y ‹ =, 
_+ ¸.
<NO(
Figure 3a shows the tracking error of MRC-RC scheme
as discussed in Section 2. The disturbance 
 is
successfully rejected and perfect tracking performance is
achieved. Figure 3b shows the tracking error of the system
when it is only use MRC. The periodic signal with smaller
amplitude appears as an error. When RC is not applied
_+ 
 is nil, the error equation p
 in (22) is equal
to- 
. Therefore, the error signal is only the filtered
,
where the periodic property of 
 remains, but both the
magnitude and phase of 
 change.

Figure 4. (a) Reference signal ÆÇ, (b) Disturbance signal with time-
varying frequency ÈÉ Ê

Figure 3. (a) Tracking error of system with MRC-RC scheme, (b) with only
MRC

To verify Section 3, we need to determine the desired

number of samples * in which we want to keep it fixed.
Figure 5. (a) Reference output  
 and plant output  
, (b) Tracking
Suppose the desired * is 20, and let mnà is the frequency of
error p

disturbance at time intervalr . When the disturbance change
its frequency at time  , the sampling period is updated to
- V. CONCLUSION
o
(jk
Ã
This paper discussed two main works; the design of
Suppose the disturbance — 
 is as illustrated in Fig 4b,
MRC with RC, and the design of MRAC with RC. MRC-
where its frequency drifts at time- ¸=Œ, and º=Œ.
RC scheme successfully works for known plant subject to
The frequency at time interval rZ 6 r- 6 L$r are mnÄ
periodic disturbance with fixed frequency. MRAC - RC is
<Å , mnP 7”<¸Å , and mnU 7”½ÁÅ . The updated proposed for system subject to periodic disturbance with
sampling periods are oZ =”=<¸Œ , o- =”=»Œ , and time-varying frequency. Simulation shows that the proposed
o =”=¼Œ scheme successfully track the reference output with
relatively small convergence time.

189

Authorized licensed use limited to: Columbia University Libraries. Downloaded on May 11,2020 at 13:06:23 UTC from IEEE Xplore. Restrictions apply.
 REFERENCES PWM inverter," IEEE Transactions on Industrial
Electronics, vol. 55, pp. 1595-1602, 2008.
[18] E. Kurniawan, Z. Cao, and Z. Man, "Robust Design of
Repetitive Control System," Unpublished paper
[1] B. A. Francis and W. M. Wonham, "The internal model presented at the 37th Annual Conference of the IEEE
principle for linear multivariable regulators," Applied Industrial Electronics Society Melbourne, Australia,
Mathematics & Optimization, vol. 2, p. 380, 1975. 2011.
[2] T. Inoue, M. Nakano, T. Kubo, S. Matsumoto, and H.
Baba, "HIGH ACCURACY CONTROL OF A PROTON
SYNCHROTRON MAGNET POWER SUPPLY," 1981,
pp. 3137-3142.
[3] H. G. M. Dotsch, H. T. Smakman, P. M. J. Van den Hof,
and M. Steinbuch, "Adaptive repetitive control of a
compact disc mechanism," in Decision and Control,
1995., Proceedings of the 34th IEEE Conference on,
1995, pp. 1720-1725 vol.2.
[4] G. Hillerstrom, "Adaptive suppression of vibrations-a
repetitive control approach," in American Control
Conference, 1995. Proceedings of the, 1995, pp. 3820-
3824 vol.5.
[5] I. D. Landau, A. Constantinescu, and D. Rey, "Adaptive
narrow band disturbance rejection applied to an active
suspension - An internal model principle approach,"
Automatica, vol. 41, pp. 563-574, 2005.
[6] Z. Cao and S. S. Narasimhulu, "Digital PLL-based
adaptive repetitive control," ISSCAA 2006: 1st
International Symposium on Systems and Control in
Aerospace and Astronautics, Vols 1and 2, pp. 1468-
1471, 2006.
[7] J.-J. E. Slotine and W. Li, Applied nonlinear control.
London: Prentice Hall 1991.
[8] P. A. Ioannou and J. Sun, Robust Adaptive Control:
Prentice Hall PTR, 1995.
[9] G. Tao, Adaptive Control Design and Analysis Wiley-
IEEE Press; 1 edition, 2003.
[10] P. A. Ioannou and B. Fidan, Adaptive Control Tutorial:
SIAM, Society for Industrial and Applied Mathematics,
2006.
[11] K. Tsakalis and P. Ioannou, "Adaptive control of linear
time-varying plants," Automatica, vol. 23, pp. 459-468,
1987.
[12] K. S. Tsakalis, "Adaptive control of linear time varying
plants: The case of 'jump' parameter variations," in
Proceedings of the American Control Conference, 1991,
pp. 1234a-1234b.
[13] K. S. Tsakalis and P. A. Ioannou, Linear Time-Varying
Systems: Control and Adaptation: Prentice Hall, 1992.
[14] K. S. Tsakalis and P. A. Ioannou, "ADAPTIVE
CONTROL OF LINEAR TIME-VARYING PLANTS:
A NEW CONTROLLER STRUCTURE," in
Proceedings of the American Control Conference, 1987,
pp. 583-588.
[15] M. Tomizuka, "ZERO PHASE ERROR TRACKING
ALGORITHM FOR DIGITAL CONTROL," Journal of
Dynamic Systems, Measurement and Control,
Transactions of the ASME, vol. 190, pp. 65-68, 1987.
[16] B. Panomruttanarug and R. W. Longman, "Repetitive
controller design using optimization in the frequency
domain," Providence, RI, 2004, pp. 1215-1236.
[17] B. Zhang, D. Wang, K. Zhou, and Y. Wang, "Linear
phase lead compensation repetitive control of a CVCF

190

Authorized licensed use limited to: Columbia University Libraries. Downloaded on May 11,2020 at 13:06:23 UTC from IEEE Xplore. Restrictions apply.