Robust repetitive control of a dual stage actuator system

This paper extends the application of a robust repetitive controller to a dual stage actuator (DSA) system with nonlinearities. An existing robust repetitive control (RC) structure is applied to the DSA system to compensate for non-linear friction and other uncertainties within a known range. A comprehensive study of the new application of the robust RC and a comparison study will be presented in this paper. Simulation results also will be presented to support the analysis and verify the effectiveness of the applied control method.