Attracting Law Based Discrete Multi-Periodic Repetitive Control

This paper presents a discrete multi-periodic repetitive control design approach for the problem of a general multi-periodic disturbance rejection. Both the nonlinear-saturation function and the measure of multi-periodic disturbance rejection are suggested to form an attracting law (AL), and by which an multi-periodic repetitive controller is developed. The multi-periodic disturbances are rejected, and the perfect tracking is achieved. In order to characterize the tracking performance, the absolute attractive layer and the steady-state error band are derived. Simulation results are given to verify the effectiveness and superiority of the proposed method.