DC Motor Drive Speed Regulation: Using a Repetitive Control Application in a Flatbed Scanner

This article presented an application of the repetitive control to DC motor drive speed regulation of flatbed scanners. Cost-reduction actions during the product development phase determined the use of a cheaper DC motor assembly for the scanner drive, which showed a high level of cogging torque. A discrete-time repetitive controller was designed based on the plug-in concept to attenuate the periodic component of the speed error. A robustness criterion was developed to ensure the closed-loop stability against model uncertainties.