A low order discrete-time sliding mode repetitive control system

This paper proposes the design of low order discrete-time sliding mode repetitive control system. The design combines the features of discrete-time low order repetitive control (RC) and sliding mode control (SMC). A low order RC is employed to compensate periodic disturbance by targeting specific frequency component of the disturbance. Discrete-time SMC is used to ensure robustness against parameter variations and also to provide fast transient response. The proposed design also results in a low order controller which requires small number of unit delay, which also improves the transient response. The effectiveness of the design has been verified from the simulation results.