Repetitive generalized minimum variance controller design for reference tracking and periodic disturbance rejection

In this paper we present two linear filtered positional GMV control designs using the indirect and repetitive control approaches to cope with setpoint changes and step or periodic disturbance rejection. Also, an optimization algorithm is applied to tune the filter parameters. Numerical and practical essays with nonlinear models are shown to verify the efficiency, stability and robustness when moving the operating condition of the processes.