Sliding Mode Repetitive Controller for a Plant with Time-Varying Sampling Times

This paper presents the design and performance of Sliding Mode Repetitive Controller (SMRC) for a plant with time-varying sampling times. SMRC basically integrates the features of Repetitive Control (RC) and Sliding Mode Control (SMC) in order to get the advantages from both controllers. The design aims to reach convergency and small tracking error when the reference is periodic, and also to ensure stability when the plant is subject to time-varying sampling times. This paper compares the performances between RC and SMRC when timevarying periodic reference is used. The effectiveness of SMRC design has been verified from the simulation results.