Rejection of nonlinear disturbance with multi-period finite-dimensional repetitive control

The velocity system and position system have a kind of nonlinear disturbance; it is correlated with some positions and changes periodically with the position. The paper presents the model of velocity system and position system with position dependent periodic disturbance, deduces the condition of position dependent periodic disturbance translating into time dependent periodic error, proposes the condition and method of reject nonlinear disturbance with multi-period finite-dimensional repetitive control, and proves this method can improve the velocity precision and position precision of system.