Design of Repetitive Controllers Through Sensitivity Function

Repetitive controllers (RC) represent a good solution for systems having periodic reference or disturbance signals containing several harmonic components. Although some practical solutions to make RCs stability conditions more flexible, methodologies for tuning these cannot be easily found. This paper presents a design method to tuning RCs, based on the use of sensitivity function together with phase margin as design tools. After presenting the design procedures, they were validated through experimental results.