Parameter Space Design of Repetitive Controllers for Satisfying a Robust Performance Requirement

A parameter space procedure for designing chosen parameters of a repetitive controller to satisfy a robust performance criterion is presented. Using this method, low-order robust repetitive controllers can be designed and implemented for plants that possibly include time delay, poles on the imaginary axis and discontinuous weights. A design and simulation study based on a high speed atomic force microscope position control example is utilized to illustrate the method presented in this paper.