Research Article

International Journal of Advanced

Robotic Systems
May-June 2019: 1–12
Analysis and design of the plug-in type ª The Author(s) 2019
DOI: 10.1177/1729881419850977
repetitive control system based journals.sagepub.com/home/arx

on steady-state residual
convergence ratio

Xianliang Jiang and Huajie Hong

Abstract
In the feedback control robotic systems, the repetitive control method has a high control performance for the track or
elimination of the periodic signals. The promotion of the plug-in type configuration of the controller broadens the application
range and applicability of the control method. In this article, a novel design algorithm based on the steady-state residual
convergence ratio of the repetitive control system is proposed to improve the performance of the stabilized platform to
resist the periodic perturbation. The basic structure and stable condition of the plug-in type repetitive control method are
first introduced by applying the small gain theorem and the stability theorem for time-lag systems. Then the analysis of the
convergence rate is utilized in constructing the basic index of the design algorithm of a plug-in type repetitive control system
based on a steady-state residual convergence ratio. The parameters of the designed controller are checked by the validity
condition of the plug-in type repetitive control system, and a simulation example is given to verify the effectiveness of the
design algorithm. The article provides basic design guidelines and schemes for the design of the periodic disturbance sup-
pression performance of the feedback control system. In the final physical prototype experiment, the prospective steady-
state residual convergence ratio is basically achieved within the allowable range of error.

Keywords
Repetitive control, steady-state residual convergence ratio, convergence rate, periodic perturbation

Date received: 6 February 2018; accepted: 25 April 2019

Topic: Robot Manipulation and Control

Topic Editor: Andrey V Savkin
Associate Editor: Hui Li

Introduction applied one used in moving carriers and aircrafts. Therefore,

Repetitive control is a useful servo design tool for systems
that are surrounded by periodic disturbances. Its application
ranges from active vibration suppression in manufacturing
processes (e.g. an imbalanced rotational machinery), hard
disk drives, and even chemical processes (particular chem-
ical reactors). As for space technology, an increasing num-
ber of high-precision aeronautic electronic equipment is
applied to various airborne carriers to complete a variety
of tasks. To achieve the precise pointing accuracy and iner-
tial stability of the devices, a platform with perpendicular
axis that can achieve inertial stability is the most extensively
the stabilization precision is the core technical indicators for
those platforms, but they are impeded by inevitable pertur-
bation generated in the operation condition of the moving
College of Intelligence Science and Technology, National University of
Defense Technology, Changsha, China
Corresponding author:
Huajie Hong, College of Intelligence Science and Technology, National
University of Defense Technology, Changsha, Hunan 410072, China.
Email: opalqq@163.com

Creative Commons CC BY: This article is distributed under the terms of the Creative Commons Attribution 4.0 License
(http://www.creativecommons.org/licenses/by/4.0/) which permits any use, reproduction and distribution of the work without
further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/
open-access-at-sage).
2 International Journal of Advanced Robotic Systems
carriers. As for the aircraft carriers, the research reveals that
the perturbation motion has a certain periodicity. In general,
the vibration spectrum of the propeller-driven aircraft ranges
from 15 Hz to 2000 Hz, which involves broadband random
vibration and narrowband sharp periodic vibration. The
combination of these frequencies forms the perturbation
environment of the propeller-driven aircraft. The broadband
random vibration is generated mainly by the stimulation
from the airplane when it is sliding, taking off, and landing.
The motivation of atmospheric turbulence and the vibration
of the motors may also belong to the influential factors.
While narrowband sharp random vibration is generated
mainly due to the rotating pressure field excited by the rota-
tion of the propeller blade. The center frequencies of those
periodic vibrations load in the blade passing frequency, so
the device installed on the propeller-driven aircraft is inevi-
tably subjected to broadband random vibration effects of
superimposing the narrowband one.1–5
For unmanned aerial vehicles, the majority of which are
outfitted with propeller engines, the vibration source gener-
ated in flight is similar to that in a propeller-driven aircraft.
The vibration environment is composed of broadband ran-
dom spectrum superimposed narrow-band spikes. For heli-
copters whose rotor and the tail rotor system are the most
important sources of vibration, the vibration environment is
rather worse. When the helicopter is on-flight, the rotor and
the blade in the tail rotor start to shimmy and generate tor-
sion deformation due to the influence of the strong airflow.
Periodic alternating force and torque come to be in the hub
by then and transfer to the fuselage where the precise devices
are installed. The value of the vibration frequencies gener-
ated in the helicopter generally equates to the products of the
blade number and the working frequency of the rotor or
the tail rotor. The vibration frequency also extends to the
frequency multiplier, which constructs the periodic vibra-
tion–based vibration circumstance with broadband random
vibration of low amplitude. Thus, the periodic disturbances
exist in the aircraft are an important part of its perturbation
circumstance. How to suppress the influence of periodic
disturbance on the airborne-stabilized platform becomes a
common problem faced in this area. What’s more, the per-
iodic or approximately periodic signals appear frequently in
both the external disturbances and the interior of control
systems. Therefore, it is very important to realize error-
free tracking and suppression of periodic signals.
In general, the external periodic disturbance can be sup-
pressed by the improvement of mechanical construction,
mainly by vibration isolation and damping technique. Vibra-
tion isolation technology is to set isolation mounting between
the vibration source and the stabilized platform to eliminate or
isolate the transmission of vibration. While the vibration
damping technology is to add dampers to the vector system
to deplete or shift the vibration power that tends to be trans-
ferred to the stabilized platform. This kind of passive vibra-
tion suppression method has advantages of high reliability, no
energy consumption, simple structure, and economic
e – Ls
Figure 1. The internal model of the repetitive controller.
practicality. However, it lacks flexibility to eliminate periodic
signals for improving the mechanical structures that have
obvious inhibition effect only on high-frequency disturbances
and its application range is very limited.
The shortage of mechanical methods can be remedied
efficiently by controlling means to suppress the repetitive
disturbance. In traditional control methods, the major influ-
encing factors are specifically compensated by building their
observers on the basis of the servo loop. In practice, the use
of various filters such as Kalman filter and notch filter are
benefit to the efficiency of compensation.6–12 Besides, an
increasing number of advanced control algorithms has been
applied to eliminate the repetitive disturbance in a stabilized
platform. The optimal control, variable structure control,
neural networks, sliding mode control, active disturbance
rejection control, and fuzzy control are most frequently used
among them.13–16 However, the above-mentioned methods
owe the character of universality and don’t aim for the dis-
turbance of a particular frequency, which leads to undesir-
able behavior on the elimination of periodic signals.
The notch filter is a control method aiming at an exact
frequency, but it has been greatly restricted in the engineering
application because of its influence on the control stability.
The algorithms based on the internal model help to create a
linear regulator that can track harmonic disturbances. Savkin
and Petersen give a necessary condition for the existence of a
suitable robust controller that minimizes a quadratic cost.17
Byrnes et al. illustrate a solution for continuous-time linear
systems and extended to multiple-input multiple-output
(MIMO) systems.18 Lindquist and Yakubovich develop uni-
versal regulators in discrete-time systems.19 Marino and
Tomei20 focus on the disturbance with unknown frequency
and Bodson et al.21 tie the separate harmonics together within
the algorithm. Repetitive control theory that is also based on
the internal model theory can be a new way to cope with the
periodic perturbation.22 The essence of the internal model
principle is to embed the dynamic model of the external signal
into the controller to form a high-precision feedback control
system. Figure 1 shows the built-in pure delay link, which is
the internal model of the repetitive controller and L is the cycle
of the target signal. This kind of internal model whose output
is the cycle-by-cycle accumulation of the input signal, in prin-
ciple, can track or suppress periodic signals with no steady-
state error.
The shortcoming of the harsh condition for the stabiliza-
tion in the standard repetitive controller appears in the
actual system, but the frequency of periodic signals that
the control system needs to track or suppress does not need
to reach infinity. To solve this problem, some scholars try
Jiang and Hong
to set a low-pass filter before the delay module so that the
undesired high-frequency components are cut off to
improve the repetitive controller.23 The improved method
is analyzed in detail and its exponential stabilization con-
dition is given to extend this method to a multivariable
control system.1 The improved repetitive controller is
called a plug-in type repetitive controller (abbreviated as
PITRC) for it can be inserted into the control loop without
affecting the performance of the original controller. The
concept of regeneration spectrum for time-delay systems
is introduced to evaluate the dynamic performance of the
repetitive control system, combine with which the best
trade-off between the control stabilization and accuracy is
achieved by constructing the sensitivity and insensitivity
function.24 The design of the controller based on the para-
meter space is investigated and the relationship between the
controller frequency domain and the controller structure
parameters is established.25 However, most of the earlier
researches are limited in the stage of simulation and lack
the support of physical prototype experiments. A second-
order filter and a linear phase-lead link are used as a
dynamic compensator of the repetitive controller and sev-
eral standards for the selection of their parameters are pro-
posed, but the results of the physical prototype experiment
focus more on the optimizing function of the dynamic com-
pensator and lack the ability to derive control parameters
for specific system indicators.26 This article mainly focuses
on a quantitative design of the proper control parameters to
achieve the expected accuracy of the system.
This article is organized as follows. First, in the second
section, the basic structure of the plug-in type repetitive
control system (PITR) is introduced. The stabilization con-
dition, the validity condition, and the convergence rate are
also deducted. The third section describes the selection cri-
teria of the parameters in the low-pass filter and puts forward
the design algorithm for PITR which is verified by a simula-
tion. Experimental setup and results are given in the fourth
section. The final section concludes this article.
Plug-in type repetitive control
system analysis
Basic structure and stabilization condition of the PITR
The basic structure of the PITR is illustrated in Figure 2. PðsÞ
is the transfer function of a linear continuous time-invariant
control object and CðsÞ is the stabilization controller. RðsÞ,
EðsÞ, Y ðsÞ, and DðsÞ are the Laplace transforms of the refer-
ence signal rðsÞ, residue signal eðsÞ, output signal yðsÞ, and
perturbation signal dðsÞ. aðsÞ that acts as a gain in the feed-
forward channel is an appropriate stable proper rational func-
tion and its general value is 1. GRC ðsÞ represents the basic RC
and GRC ðsÞ ¼ QðsÞeLs . The low-pass filter, QðsÞ, is a
strictly true rational function and jjQðsÞjj1 equates to 1 in
which the jj  jj1 represents the H 1 norm of a stable and true
rational function. For the control object, it is necessary to
3
a(s)
D(s)
R(s) E(s)
GRC (s) C(s) P(s) Y(s)
G(s)
Figure 2. The block diagram of the PITR. PITR: plug-in type
repetitive control system.
design a stabilization controller to ensure that the system is
internally stable when the PITRC is not added and the control
object after stabilization. Based on the assumption
that GðsÞ ¼ CðsÞPðsÞ is a real rational function, set
A0 ðsÞ ¼ 1=½1 þ GðsÞ and B 0 ðsÞ ¼ GðsÞ=½1 þ GðsÞ as the
sensitivity function and the complementarity sensitivity of the
stabled system, respectively. Symbol ðsÞ may be omitted in
the following formulas without prejudice to understand.
Form Figure 2, we can obtain1
EðsÞ ¼ expðLsÞðI þ aðsÞGðsÞÞ1 ½I þ ðaðsÞ  1ÞGðsÞEðsÞ
þ ðI þ aðsÞGðsÞÞ1 ½1  expðLsÞRðsÞ
ð1Þ
Assuming that there is no unstable zero-pole cancella-
tion between PðsÞ and CðsÞ, there is no implicit unstable
pole in GðsÞ. According to Hara et al.,1 if
ðaÞ ½I þ aðsÞGðsÞ1 GðsÞ is a stablerational function ð2Þ
ðbÞ jjQF jj1 < 1 is established; where
ð3Þ
QF ¼ QðsÞðI þ aðsÞGðsÞÞ1 ½I þ ðaðsÞ  1ÞGðsÞ
Then, the PITRC shown in Figure 2 is exponentially
asymptotically stable. In addition, for variable reference
signals of different periods, the residue signal of the system
is bounded. Especially when QðsÞ ¼ 1 is established, the
bias converges to zero exponentially.
For simple input simple output (SISO) systems, condi-
tion (b) equates to
jQðj!ÞfI þ ½aðj!Þ  1Gðj!Þgj < jI þ aðj!ÞGðj!Þj ð4Þ
Then we have jI þ Gðj!Þj > jQðj!Þj when aðsÞ ¼ 1.
The relationship between QðsÞ and the stabilization domain
of the closed-loop system is depicted in Figure 3. For
closed-loop stability, the Nyquist plot of Gðj!Þ should lie
outside the circle centered at 1 þ j0 with a radius of
jQðj!Þj. We can notice that the radius of the circle changes
with the cut-off frequency of the low-pass filler, so a
desired stability margin can be obtained by design. It also
implies that the design of QðsÞ will affect the stability of the
overall repetitive control system.
The basic stable condition of the plug-in type repetitive
system is that jjQF jj1 < 1 is satisfied. The value of a is set
to be 1 generally, so jjQF jj1 < 1 is equal to formula (5)
4 International Journal of Advanced Robotic Systems

Im 1  QðsÞeLs
X ðsÞ ¼ ð9Þ
1  A0 ðsÞQðsÞeLs

a (s =1
( where X ðsÞ represents the effect caused by the PITRC
compared with the original stable system. Since the refer-
Re ence signal is supposed to be periodic signals, the X ðsÞ will
–1
be examined only at the frequency of k!L which represents
the frequency of the reference signal and its multiplier. To
Q ( jw
(
ensure that plug-in repetitive control system is effective at
k!L , jX ðjk!L Þj  1 should be satisfied which is described
as effectiveness conditions in this article.
Figure 3. Stability region of the PITR. PITR: plug-in type repeti-
tive control system. According to jX ðjk!L Þj  1, we obtain
 
 
 1  Qðk!L Þ 
 
1  A ðk! ÞQðk! Þ  1
 0 L L 
dB
|I + G(s)|
) jQðk!L Þj2  fRe2 ½A0 ðk!L Þ þ Im½Qðk!L Þ2 g
 fRe½Qðk!L Þ2 þ Im½A0 ðk!L Þ2 g þ 2Im½Qðk!L ÞIm½A0 ðk!L Þ
þ 2Re½Qðk!L Þ  2Re½A0 ðk!L ÞRe½Qðk!L Þ
s

0 ð10Þ
Ws O Hz
The derivation process is described in Appendix 1. It
| Q (s) | is shown that the effectiveness of the PITR can be
satisfied as long as the designed low-filter satisfies the
last formula.
Figure 4. The frequency responses of jI þ Gðj!Þj and QðsÞ.

Analysis of the convergence and the convergence

jjQðI þ aGÞ1 jj1 < 1 ð5Þ
rate of the PITR
As for the single-input-single output situation discussed Proof of the convergence. According to Figure 2, we can
in this article, formula (5) can be transformed to be obtain the tracking error as
jQðsÞj < jI þ GðsÞj ð6Þ
RðsÞ 1  QðsÞeLs
EðsÞ ¼
When designing the low-pass filter, it is necessary to 1 þ GðsÞ 1  A 0 ðsÞQðsÞeLs
depict map jI þ GðsÞj on the bode plot and make QðsÞ in
RðsÞ X1
its bottom. Then the maximum of the cut-off frequency can ¼ ½1  QðsÞeLs   A0 n ðsÞQn ðsÞenLs
be determined as shown in Figure 4. For the purpose of 1 þ GðsÞ n¼0
redundancy, point O is constructed in Figure 4. Placing
ð11Þ
QðsÞ below O ensures the stability of the system. The
abscissa of the point O is !s which satisfies the equation Based on (9), the expression of the tracking error in time
of jIð!s Þ þ Gð!s Þj ¼0dB and the ordinate of O is Ws which domain can be given by
is the minimum value of jI þ GðsÞj.
eðtÞ ¼ L1 ½EðsÞ
Then 8 9
< RðsÞ  X1 =
jQðj!s Þj < W s ð7Þ ¼ L1 1  QðsÞeLs A0 n ðsÞQn ðsÞenLs
:1 þ GðsÞ n¼0
;
Under the condition that the transfer function of the
control object is already determined, both !s and Ws can ¼ e0 ðtÞ þ e1 ðtÞ þ    þ ek ðtÞ þ   
be calculated from jI þ GðsÞj. So (5) acts as another stabi- ð12Þ
lization condition which provides criteria for the selection
of the parameters of the filler. where L1 ðÞ represents the inverse Laplace transformation.
The formula of (12) implies the basic functional rule of
the repetitive control theory. During each repetitive control
The effectiveness conditions of PITR period, the response of the system is a superposition of
The sensitivity function of the PITR is given by responses of several functions in time domain. Generally,
in the kth repetitive control period, the time domain func-
A1 ðsÞ ¼ A 0 ðsÞX ðsÞ ð8Þ tion ranging from e 0 ðtÞ to ek1 ðtÞ almost has been in the
Jiang and Hong 5

steady state and ek ðtÞ is right in the transient response stage.

So the response of the system is essentially the superposi- k

tion of the steady state of the first k-1 time domain func-
•

convergence ratio
1
tions and the transient response of the kth function during
the kth repetitive control period.
According to (b), we have jjQF jj1 ¼ jjQðsÞA0 ðsÞjj1 < 1. •
2

Note the following condition holds.

• 3

jjek jj 2  jjQðsÞA0 ðsÞjj1 jjek1 jj 2  jjQðsÞA0 ðsÞjjk2

1 jje 2 jj 2 •
k –1
•
k

ð13Þ ss

Based on the formula of (13), it can be inferred that 0 1 2 3 k-1 k

jjek jj 2 ! 0 when k ! 1 where jj  jj2 represents the 2- control cycle
norm of the transfer function. According to the conver-
gence theorem of the monotone sequence of number that Figure 5. The convergence rate of the PITR. PITR: plug-in type
the monotone decreasing nonnegative sequence of number repetitive control system.
has a lower bound, the series of fek g converges. It implies
that the tracking error of the system converges to a certifi-
cation and the convergence rate depends on the value of  
jjQðsÞA0 ðsÞjj1 .  1
¼ A 0 ðsÞ
1  A0 ðsÞQðsÞeLs
X
1 n
Analysis of the convergence rate. By transformation of the
formula of (11), we obtain the transfer function of resi- þ ð1ÞQðsÞ½A 0 ðsÞQðsÞ eðnþ1ÞLs
n¼0
due as  n
X
1 
EðsÞ  ð1ÞQðsÞ½A0 ðsÞQðsÞ e  ðnþ1ÞLs

RðsÞ n¼k s¼j!
 k 
 EðsÞ A0 ðsÞQðsÞe ½A0 ðsÞQðsÞ 
Ts
1  QðsÞeLs ¼  þ 
¼ A0 ðsÞ RðsÞ 1  A 0 ðsÞQðsÞeLs 
1  A0 ðsÞQðsÞeLs s¼j!
8 9
< QðsÞeLs =
1 Note that the frequency of input signal is !L or its multi-
¼ A0 ðsÞ þ
:1  A0 ðsÞQðsÞeLs 1  A0 ðsÞQðsÞeLs; plier where !L ¼ 2p=L, so the equation eLs js¼j!L ¼ 1
8 9 holds. Then we have
< 1 X
1 n =
¼ A0 ðsÞ þ ð1ÞQðsÞ½A ðsÞQðsÞ e ðnþ1ÞLs    EðsÞ   
:1  A0 ðsÞQðsÞeLs n¼0 0
;      1  QðsÞ 
hss  ¼ s¼j!L ¼ A 0 ðsÞ
s¼j!L RðsÞ 1  A0 ðsÞQðsÞ s¼j!L
ð14Þ
ð17Þ
The proportion of the steady-state error of the system to  
   EðsÞ ½A ðsÞQðsÞkþ1 
the reference sinusoidal signal is  Ek ðsÞ   
  hk js¼j!L 
¼  ¼ þ
0

 EðsÞ  

 Rk ðsÞ s¼j!L  RðsÞ 1  A 0 ðsÞQðsÞ 
   1  QðsÞeLs  s¼j!L
hss ¼   ¼ A ðsÞ ð15Þ
 RðsÞ s¼j!  0 1  A0 ðsÞQðsÞeLs s¼j! ð18Þ

Since the reference input or the perturbation is supposed where hk js¼j!L represents the convergence residual ratio of
to be periodic signal, the real-time convergence residual the kth repetitive control period.
ratio of the residual tracking error to the reference signals Note that ½A0 ðsÞQðsÞkþ1 ! 0 is tenable according to
of the kth repetitive control period is given by jjQF jj1 ¼ jjQðsÞA0 ðsÞjj1 < 1. Therefore, hk ! hss exists
 E ðsÞ  when k ! 1. Figure 5 depicts how the value of each resi-
 k 
hk ¼   dual convergence ratio changes on the controlling process.
Rk ðsÞ s¼j!
  It implies that the real-time residual convergence ratio of
 1 the kth repetitive control period is close to the steady-state
¼ A0 ðsÞ ð16Þ
1  A0 ðsÞQðsÞeLs residual convergence ratio of the system as the repetitive
n  control period increases, which verified the convergence of
X
k 1 
þ ð1ÞQðsÞ½A0 ðsÞQðsÞ eðnþ1ÞLs  the PITR indirectly. At the same time, it reveals how fast
n¼0 s¼j! the convergence rate can be with different control
parameters.
6 International Journal of Advanced Robotic Systems

Designing and simulation t q 2 a1 þ b1 t q cosð!L pt q =4Þ þ c 1 t q sinð!L pt q =4Þ

ð23Þ
Design of the low-pass filter ¼ d 1 þ e 1 cosð!L pt q =4Þ þ f 1 sinð!L pt q =4Þ
To design the low-pass filter is to choose the structure of where
the filler and calculate the parameter under condition of (7).
a1 ¼ !L 2 ½jA0 j 2  ðhss 0 Þ 2 

First-order low-pass filter. The structure of the first-order low- b1 ¼ 2!L ðhss 0 Þ 2 ImðA0 Þ
pass filter is given by c 1 ¼ ½2!L ðhss 0 Þ 2 ReðA 0 Þ  2!L jA0 j 2 
e Lq s d 1 ¼ ðhss 0 Þ 2 jA0 j2  2jA0 j2 þ ðhss 0 Þ 2
QðsÞ ¼ ð19Þ
tq s þ 1 e 1 ¼ ½2jA0 j 2  2ðhss 0 Þ 2 ReðA 0 Þ

where t q is a time constant that determines the non-damp f 1 ¼ 2ðhss 0 Þ 2 ImðA0 Þ

natural frequency of the filler directly and Lq is a lead
compensation coefficient designed to modify the filter.
According to the condition of (7), we have Second-order low-pass filter. The structure of the first-order
  low-pass filter is given by
 eLq j!s 
jQðj!s Þj ¼   0

t q j!s þ 1  eL q s
QðsÞ ¼ s2 2& q s
ð24Þ
þ þ1
jcosðLq !s Þ þ jsinðLq !s Þj !q2 !q
¼ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ðt q !s Þ 2 þ 1 where !q represents the undamped natural frequency of the
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi low-pass filter, & q represents the damping ratio, and L0 q
ð20Þ
½cosðLq !s Þ 2 þ ½sinðLq !s Þ2 represents the lead compensation coefficient used to com-
¼ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
pensate the lag caused by the denominator. To obtain the
ðt q !s Þ 2 þ 1 robust frequency domain characteristics, generally & q is
1 selected to be 0.707.
¼ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi < W s Since the damping ratio is set to 0.707, jjQðsÞjj1  1 is
ðt q !s Þ 2 þ 1
established for any !q and L0 q . The upper bound of the
undamped natural frequency can be obtained through
After transforming the formula of (20), we obtain
rffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi jQðj!s Þj < W s . Then we can get
1 1 vffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
tq > 1 ð21Þ u sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
!s W s 2 u W 2 ð1  2& 2 Þ W s 2 ð2& q 2  1Þ2 1
!q < !s t
s q
2
þ W s 2
 2
We can get the range of the value of the time constant t q ðW s  1Þ 2
ðW s  1Þ ðW s  1Þ
by (21). Noted that t q has a lower bound that reveals that ð25Þ
the non-damp natural frequency of the filter has an upper
bound. To ensure the stability of the PITR, the cut-off To ensure that the sensitivity function gets the minimum
frequency of the filter should not reach infinity. In view value right at the reference frequency, the selection of the
of the good linearity of the phase-frequency characteristic leading compensation coefficient of the second-order filter
of the first-order filter, the lead compensation coefficient should be adapted to the lag phase of the denominator.
can be selected as pt q =4 in general. Calculate L0 q based on !q got at step (3) or use 2& q =!q as
When designing based on the steady-state residual conver- a rough estimate of L0 q .
gence ratio of the system, it can be obtained from (15) that By solving (26), we can get the equivalent result of the
    designed cut-off frequency with (25). The derivation pro-
 Eðj!Þ   
hss 0 ¼   ¼ A0 ðsÞ 1  QðsÞ  ð22Þ cess is described in Appendix 3. The purpose of the trans-

Rðj!Þ s¼j!L  1  A 0 ðsÞQðsÞ s¼j!L
formation is to simplify the process of calculation and make
where hss 0 represents the expected steady-state residual the equation that can be solved in Matlab.
convergence ratio.
a2 !q 2  b2 !q 2 cosð2& q !L =!q Þ  c 2 !q2 sinð2& q !L =!q Þ
By solving (23), we can get the equivalent result of the
designed cut-off frequency with (22). The derivation pro- þd 2 !q sinð2& q !L =!q Þ þ e 2 !q cosð2& q !L =!q Þ þ f 2
cess is described in Appendix 2. The purpose of the trans-
þg 2 cosð2& q !L =!q Þ þ h2 sinð2& q !L =!q Þ ¼ i 2 =!q 2
formation is to simplify the process of calculation and make
the equation that can be solved in Matlab. ð26Þ
Jiang and Hong 7

where
a2 ¼ ½2jA0 j 2  hss 0  jA 0 j 2 hss 0 
0.1 = 24.74 Hz
b2 ¼ ½2jA0 j 2 þ 2hss 0 ReðA0 Þ s

c 2 ¼ 2hss 0 ImðA 0 Þ 0
0 2
d 2 ¼ ½4& q !L hss ReðA 0 Þ  4& q !L jA0 j  Ws = – 0.1793dB
-0.1
e 2 ¼ 4& q !L hss 0 ImðA0 Þ
f 2 ¼ ½4& q 2 !L 2 jA0 j 2  4& q 2 !L 2 hss 0  2!L 2 jA0 j 2  2!L 2 hss 0  -0.2
30 60 90 120
g 2 ¼ ½2!L 2 jA0 j 2  2hss 0 !L 2 ReðA0 Þ
25
h2 ¼ 2!L 2 hss 0 ImðA0 Þ
i 2 ¼ hss 0 !L 4  !L 4 jA0 j 2 20

15

Magnitude(dB)
10
The design algorithm for the PITR based on a steady-
state residual convergence ratio 5

Take the second-order low-pass filter as an example to 0

demonstrate the design algorithm.
Step 1: Design the compensation controller CðsÞ
according to the model of the control object to
ensure that the system without the PITRC is intern-
ally stabilized.
Step 2: Plot magnitude of the sensitivity functions
jI þ GðsÞj to get !s and Ws. Then calculate the
upper bound of !q .
Step 3: Select the steady-state residual convergence
ratio hss 0 js¼j!L as the design index and get !q
according to formula (26).
Step 4: The selected parameter should be examined
by the results of step 2 to verify that the controller
designed is reasonable.
Simulation
Take the pitch axis servo control system of a stabilized
platform as the control object and set the frequency of the
perturbation as 1 Hz. The identified model of the motor on
the pitch axis is obtained by sweeping, and the basic stabi-
lity controller is designed for the identified model to ensure
the closed-loop stability of the system. The open-loop
transfer function of the stable loop is given by
218:471ð0:0034072s þ 1Þð0:076s þ 1Þ
GðsÞ ¼ PðsÞCðsÞ ¼
sð0:23253s þ 1Þð0:0047986s þ 1Þ
ð27Þ
where PðsÞ represents the transfer function of the identified
model and CðsÞ represents the stability controller.
It is found that the characteristic root of the closed-loop
system is 15:6  ð5:82e  11Þj, 71:34 þ ð2:91e  11Þj,
and 176:4 þ ð2:91e  11Þj. Note that these roots are
located in the left half-plane of the amplitude–frequency
domain, which satisfies the condition for the internal stabi-
lity of the system.
-5
0 1 2 3 4
10 10 10 10 10
Frequency(Hz)
Figure 6. The magnitude plots of jI þ GðsÞj.
Figure 6 shows the sensitivity function of the system
without the PITRC. On the top of the figure is a partial
enlarged view.
By obtaining the extreme value of the curve and its
intersection with the 0dB line, we get

W s ¼ 0:1793 dB
!s ¼ 24:74Hz
According to (21), the permitted range of parameters
can be obtained as
!q < 54:561 Hz ð28Þ
which is used for the final test of validation.
The steady-state convergence residual ratio in the simu-
lation is chosen to be 0.02%. Since the lead compensation
coefficient is not determined yet, its temporary value is
chosen as L0 q ¼ 2& q =!q to facilitate the design. Then we
obtain !q ¼ 4:775 Hz and L0 q ¼ 0:0471 according to for-
mula (26). It can be verified that the selected cut-off fre-
quency can meet the requirements of condition (25).
Figure 7 depicts the residual convergence ratio of the
PITR under the perturbation of 1Hz in the simulation,
where the horizontal axis stands for the time and the ver-
tical axis stands for the residual convergence ratio. Note
that the residual convergence ratio can reach a considerable
effect in the second repetition control cycle and the steady-
state residual convergence ratio is about 0.0187%, which is
very close to the designed index of 0.02%. The result of the
simulation proves the correctness and validity of the pro-
posed design algorithm.
8 International Journal of Advanced Robotic Systems

-4 Zero Input Error

x 10 Perturbation(1Hz)
2
0.08 r (t ) e (t )
– ( L – Lqʹ ) s
d (t ) y (t )
e
1 G (s)
s2 2
q + 2 qs q +1

0
Residual convergence ratio

0.04 H (s)
-1

-2
10 11 12 13 14 15
Figure 9. Experimental model of PITR. PITR: plug-in type repe-
0 titive control system.

effectiveness of the design algorithm based on the index

of the steady-state residual convergence ratio.
-0.04

0 5 10 15 Experimental setup
Time(s) Figure 9 depicts the experimental model for the PITR, where
HðsÞ and GðsÞ represent the PITRC and the open-loop trans-
Figure 7. Residual convergence ratio. fer function of the stable loop, respectively. In the experiment,
the input command is set to zero and the perturbation dðtÞ of 1
-1
Hz or 2 Hz is imposed to the platform. The platform is stabi-
10
Original lized under the control of the PITRC, and its residual motion
PITR error eðtÞ is recorded by the gyroscope whose measured
amplitude reflects the stability precision of the platform and
-2
10 the control accuracy of the PITRC. In addition, the value of L
is the reciprocal of the frequency of the perturbation signal
.The lead compensation coefficient L0 q and the cut-off fre-
X(f)

-3
10
-4
10
0 1
Frequency(Hz)
Figure 8. Spectrum of the residual convergence ratio.
Figure 8 shows the comparison of spectrums of the resi-
dual convergence error before and after the insertion of the
PITRC. As we can see from the figure, the origin amplitude
is 4.7  102 and then reduces to 1.867  104 in the PITR.
The decreasing of value by two orders of magnitude not only
shows the correctness of the design algorithm based on
steady-state residual convergence ratio but also proves that
the PITRC is much more effective than the traditional pro-
portional–integral controller in suppressing the perturbation.
Experiment
To verify the correctness of the design algorithm proposed
in the third section, a physical prototype system is set up to
verify the simulation results. A stabilized platform is uti-
lized as the control object and a swing table is used to
produce the perturbation to the platform. Perturbation–
rejection experiments are designed to realize the certifica-
tion of the simulation example and to explore the
2 3
quency !q are the controller parameters to be designed.
The experimental device is shown in Figure 10. The
swing table provides a sine swing motion that can cause
a perturbation of the same frequency to the stable platform.
The DC power supplies power to the gyro, the driver, and
other instruments on the platform. The dSPACE (Germany)
module with the sampling time of 0.001 s is used to acquire
the sensor signals and achieve digital to analog conversion.
The computer and its display are helpful to the realization
of the controller and the operation of the experiment. The
gyro is used to sense the angular velocity of the platform
around the pitch axis in the inertial space.
Based on the identification model whose recognition
accuracy is 87%, the PITRC of the physical prototype sys-
tem is constructed using the simulation parameters calcu-
lated in the third section. The stability of the system will be
verified by observing the steady-state accuracy of the sys-
tem under the external perturbation of 1 Hz and the correct-
ness of the proposed design algorithm will be verified by
calculating the steady-state residual convergence ratio of
the system at the frequency of 1 Hz.
Validation experimental results
To demonstrate the perturbation of 1 Hz dðtÞ as shown in
Figure 9, the swing table is set to perform a rocking motion
of 1 Hz with an amplitude of 1 . Then, the pitch axis of the
stable platform is subject to a perturbation of the same
frequency. Since the perturbation caused by the swing table
is not a single-frequency disturbance and is easy to derive
Jiang and Hong 9

Power to the motor

Power to the gyro
Gyro

Perturbation

Platform

Driver
Swing table

DA out

AD in
DC power

The computer
Dapace1103

Figure 10. The experimental device.

its frequency multiplication signal through the transmis-

sion, it is necessary to test the perturbation of the stable (a)
platform in the open-loop condition as shown in Figure 11. 6
Figure 11(a) shows the actual waveform of the perturba- 4
Angular velocity(deg/s)

tion where the amplitude of the perturbation actually

reaches 6 deg/s, while Figure 11(b) shows the feature of 2
the perturbation in the frequency domain. It is obvious that
0
the perturbation is dominated by 1 Hz with the amplitude of
5.746 deg/s and includes a variety of frequency compo- -2
nents which reveal a large noise.
-4
To calculate the steady-state residual convergence ratio
of the PITR under the perturbation of 1 Hz, the lead-in -6
compensation coefficient is set to be L0 q ¼ 0:0471 and the
0 1 2 3 4 5 6 7 8
cut-off frequency is set to be !q ¼ 4:7746 Hz. Then, the
reference input rðtÞ is set to 0. Three sets of repeated Time(s)

experiments are conducted to eliminate the chance and the (b) 6

reliability of the data was improved by means of a multi-
group data comprehensive analysis. 5
The experimental results are shown in Figure 12. The
waveforms of the steady-state motion residue in time domain 4
are shown in (a), (c), and (e), while the features in frequency
X(f)

domain are shown in (b), (d), and (f) and the views of 0–2 Hz 3
are enlarged in the dashed boxes. The smooth residual signals
2
reveal that the basic stability of the system under the control of
the PITRC can be guaranteed. By comparing the frequency 1
spectrums between Figures 11 and 12, it can be found that the
perturbation is greatly attenuated which reveals an excellent 0
perturbation rejection performance of the PITR. 0 10 20 30
Then, the amplitudes of 1 Hz in the frequency spectrum of Frequency(Hz)
the steady-state residue signal of each experiment are recorded
in Table 1, which is used for calculating the steady-state resi- Figure 11. The time domain and frequency domain characteris-
dual convergence ratio of the system under the PITRC. tics of the perturbation.
10 International Journal of Advanced Robotic Systems

(a) 6 (b) 6 -3
(c) 6
10 x 10

4 5 8 4
Angular velocity(deg/s)

Angular velocity(deg/s)
2 4 6 2
4

X(f)
0 3 0
2
-2 2 0 1 2 -2

-4 1 -4

-6 0 -6
0 2 4 6 8 0 10 20 30 0 2 4 6 8
Time(s) Frequency(Hz) Time(s)

(d) (e) (f) 6

6 -3
x 10
-3
6 10 x 10
10
5 5 8
8 4
Angular velocity(deg/s)

6 4 6
4 2
4 4

X(f)
X(f)

3 3
2 0 2

2 -2 2 0 1 2
0 1 2

1 -4 1

0 -6 0
0 10 20 30 0 2 4 6 8 0 10 20 30
Frequency(Hz) Time(s) Frequency(Hz)

Figure 12. Time domain and frequency domain characteristics of steady-state residue. The wave forms of three experiments are
shown in (a),(c) and (e). Their features in frequency-domain are shown in (b), (d) and (f) respectively.

Table 1. Steady-state residual convergence ratio. Conclusion

Group
The motion residue (10 deg/s) 3
The steady-state residual
convergence ratio (%)
In Table 1, the amplitudes of the 1 Hz are 1.672  103
deg/s, 1.921  103 deg/s, and 2.884  103 deg/s in the three
repeated experiments and their steady-state residual conver-
gence ratios are 0.0291, 0.0334, and 0.502%, respectively.
Calculate the average of the data to get the average amplitude
of 2.159  103 deg/s and the average steady-state residual
convergence ratio of 0.0376%, which is slightly higher than
the index of 0.02% in the design and simulation.
The main reasons for the small deviation between the
measured steady-state convergence ratio and the design
index are mainly due to the identification error of the con-
trol object of the stable loop and the calculation error of the
spectrum of the discrete sequence. Based on the compre-
hensive analysis, it can be concluded that the steady-state
residual convergence ratio of 0.376% in the physical pro-
totype experiment has achieved a great deal of reach of the
design index of 0.02%, and the correctness and validity of
the design algorithm of the PITR based on the steady-state
residual convergence ratio can be verified basically.
1 2 3 Mean To achieve high-precision control on the stabilized plat-
1.67 1.92 2.88 2.16 form under the periodic perturbation that usually exists in
0.029 0.033 0.050 0.038 the airborne environment, a plug-in type repetitive control
method is introduced. Based on the analysis of the stabili-
zation condition, the validity condition, and convergence
rate of the PITR, a design algorithm based on steady-state
residual convergence ratio is proposed. The effectiveness
of the design algorithm is verified by simulation where the
second-order low-pass filter is designed as an example and
the steady-state convergence ratio in the simulation is very
close to the design index. After all, repeated physical
prototype experiments are set to be an experimental verifi-
cation of the proposed design algorithm. The tested steady-
state convergence ratio is slightly higher than the design
index and the reasons are analyzed, which verifies the
correctness and validity of the design algorithm in a con-
siderable deal.
Declaration of conflicting interests
The author(s) declared no potential conflicts of interest with respect
to the research, authorship, and/or publication of this article.
Funding
The author(s) disclosed receipt of the following financial support
for the research, authorship, and/or publication of this article: This
Jiang and Hong
work was supported in part by the National Basic Research Prio-
rities Program of China (grant number A0920132001) and (17-
163-11-ZT-005-034-01).
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Appendix 1
 
 
 1  Qðk!L Þ 
 
 1  A ðk! ÞQðk! Þ  1
 0 L L 
) j1  Re½Qðk!L Þ  jIm½Qðk!L Þj 
j1  fRe½A0 ðk!L Þ þ jIm½Qðk!L ÞgfRe½Qðk!L Þ
þ jIm½A 0 ðk!L Þgj
) j1  Re½Qðk!L Þ  jIm½Qðk!L Þj 
j1  Re½A0 ðk!L ÞRe½Qðk!L Þ þ Im½Qðk!L ÞIm½A0 ðk!L Þ
 jfRe½Qðk!L ÞIm½Qðk!L Þ þ Re½A0 ðk!L ÞIm½A 0 ðk!L Þgj
) f1  Re½Qðk!L Þg 2 þ fIm½Qðk!L Þg 2 
f1  Re½A0 ðk!L ÞRe½Qðk!L Þ þ Im½Qðk!L ÞIm½A0 ðk!L Þg2
þ fRe½Qðk!L ÞIm½Qðk!L Þ þ Re½A 0 ðk!L ÞIm½A0 ðk!L Þg 2
) jQðk!L Þj 2  2Im½Qðk!L ÞIm½A0 ðk!L Þ þ 2Re½Qðk!L Þ
þ fRe 2 ½A0 ðk!L Þ þ Im½Qðk!L Þ 2 gfRe½Qðk!L Þ 2
þ Im½A0 ðk!L Þ 2 g  2Re½A0 ðk!L ÞRe½Qðk!L Þ
12 International Journal of Advanced Robotic Systems

 
Appendix 2  L0 q s 
 1  s2 e 2& q s 
 þ þ1 
 !q2 !q 
  A 0 0  ¼ hss 0
   1A eL q s 
A0 ðsÞ 1  QðsÞ  ¼ hss 0


0 s 2 2& q s 
þ þ1
 1  A ðsÞQðsÞ  !q2 !q
0 s¼j!L
 
 2& j! !  ! 2 þ ! 2  ! 2 eL0 q j!L 
To simplify the calculation, omit the ðsÞ.  q L q L q q 
  ) jA0 j   ¼ hss 0
 Lq j!L  !L 2 þ 2& q j!q !L þ !q2  !q2 A0 eL0 q j!L 
 1 e 
 t q j!L þ1  0  
) A 0 Lq j!L  ¼ hss  
 1  A0 e   
 t q j!L þ1  
 2& j! !  ! 2 þ ! 2 
     q L q L q 
  
eLq j!L   eLq j!L   !q 2 ½cosð2& q !L =!q Þ þ jsinð2& q !L =!q Þ 
) jA0 j 1  ¼ h 0
1  A 
) jA0 j  ¼h 0
t q j!L þ 1  ss 
t q j!L þ 1 
0
2 2  ss
 !L þ 2& q j!q !L þ !q 
 
) jA0 jjt q j!L þ 1  eLq j!L j ¼ hss 0 jt q j!L þ 1  A0 eLq j!L j  
 !q2 ½ReðA0 Þ þ jImðA0 Þ 
 
 
) jA0 jjt q j!L þ 1  cosðLq !L Þ  jsinðLq !L Þj ½cosð2& q !L =!q Þ þ jsinð2& q !L =!q Þ
¼ hss 0 jt q j!L þ 1  A 0 ½cosðLq !L Þ þ jsinðLq !L Þj
) jA0 j2 f½2& q !L !q  !q 2 sinð2& q !L =!q Þ2
) jA0 jjt q j!L þ 1  cosðLq !L Þ  jsinðLq !L Þj þ½!q 2  !L 2  !q 2 cosð2& q !L =!q Þ2 g
¼ hss 0 jt q j!L þ 1  ½ReðA 0 Þ þ jImðA0 Þ½cosðLq !L Þ ¼ hss 0 f½!q2  !L 2  !q2 ReðA0 Þcosð2& q !L =!q Þ
þ jsinðLq !L Þj þ !q2 ImðA 0 Þsinð2& q !L =!q Þ 2 þ ½2& q !q !L
) jA0 jjt q j!L þ 1  cosðLq !L Þ  jsinðLq !L Þj  !q2 ImðA 0 Þcosð2& q !L =!q Þ  !q2 ReðA0 Þsinð2& q !L =!q Þ2 g
¼ hss 0 jj½t q !L  ImðA0 ÞcosðLq !L Þ  ReðA 0 ÞsinðLq !L Þ
) !q 2 4& q 2 !L 2 jA 0 j 2  4& q !L !q 3 jA0 j 2 sinð2& q !L =!q Þ
þ 1  ReðA0 ÞcosðLq !L Þ þ ImðA0 ÞsinðLq !L Þj
þ !q 4 jA0 j 2 sin 2 ð2& q !L =!q Þ þ !q 4 jA 0 j 2 þ !L 4 jA0 j 2
2 2 2
) A 0 f½t q !L  sinðLq !L Þ þ ½1  cosðLq !L Þ g þ !q 4 jA0 j 2 cos 2 ð2& q !L =!q Þ  2!q 2 !L 2 jA 0 j2
0 2 2
¼ ðhss Þ f½t q !L  ImðA 0 ÞcosðLq !L Þ  ReðA0 ÞsinðLq !L Þ  2!q 4 jA 0 j 2 cosð2& q !L =!q Þ þ 2!L 2 !q 2 jA0 j 2 cosð2& q !L =!q Þ
þ ½1  ReðA 0 ÞcosðLq !L Þ þ ImðA 0 ÞsinðLq !L Þ 2 g ¼ hss 0 !q4 þ hss 0 !L 4  !q3 4& q !L hss 0 ImðA 0 Þcosð2& q !L =!q Þ
) jA0 j 2 fðt q !L Þ 2  2t q !L sinðLq !L Þ þ 2  2cosðLq !L Þg þ 2!q4 hss 0 ImðA 0 Þsinð2& q !L =!q Þ

¼ ðhss 0 Þ 2 fðt q !L Þ 2 þ jA0 j 2  2t q !L ImðA0 ÞcosðLq !L Þ  !q2 2!L 2 hss 0 ImðA0 Þsinð2& q !L =!q Þ
 2t q !L ReðA0 ÞsinðLq !L Þ þ 1  2ReðA0 ÞcosðLq !L Þ þ !q2 hss 0 2!L 2 ReðA0 Þcosð2& q !L =!q Þ þ !q 2 4& q 2 !L 2 hss 0
þ 2ImðA0 ÞsinðLq !L Þg þ 2!q4 hss 0 ReðA 0 Þcosð2& q !L =!q Þ þ !q4 jA0 j 2 hss 0
þ 2!q2 !L 2 hss 0  !q3 4& q !L hss 0 ReðA0 Þsinð2& q !L =!q Þ
) t q 2 !L 2 ðjA 0 j 2  X 2 Þ þ 2!L X 2 ImðA0 Þt q cosð!L pt q =4Þ
þ ½2!L X 2 ReðA0 Þ  2!L jA0 j 2 t q sinð!L pt q =4Þ ) !q 4 ½2jA0 j 2  hss 0  jA0 j2 hss 0   ½2!q 4 jA0 j 2
¼ ðhss 0 Þ 2 jA0 j 2  2jA0 j 2 þ ½2jA0 j 2 þ 2!q4 hss 0 ReðA 0 Þcosð2& q !L =!q Þ
 2X 2 ReðA 0 Þcosð!L pt q =4Þ  2!q4 hss 0 ImðA 0 Þsinð2& q !L =!q Þ
2 2
þ 2X ImðA0 Þsinð!L pt q =4Þ þ X þ ½!q3 4& q !L hss 0 ReðA0 Þ  4& q !L !q 3 jA0 j 2 sinð2& q !L =!q Þ
þ !q3 4& q !L hss 0 ImðA 0 Þcosð2& q !L =!q Þ
Appendix 3 þ !q 2 ½4& q 2 !L 2 jA 0 j 2  4& q 2 !L 2 hss 0
 2!L 2 jA0 j 2  2!L 2 hss 0  þ ½2!L 2 !q 2 jA0 j 2
 
 1  QðsÞ   !q2 hss 0 2!L 2 ReðA 0 Þcosð2& q !L =!q Þ
A 0 ðsÞ ¼ hss 0
 1  A0 ðsÞQðsÞs¼j!L þ !q2 2!L 2 hss 0 ImðA 0 Þsinð2& q !L =!q Þ

To simplify the calculation, omit the ðsÞ. ¼ hss 0 !L 4  !L 4 jA0 j 2