Design of Causal Compensator for Dual Periods Repetitive Control System

This paper proposes design method of causal compensator for dual periods Repetitive Control (RC) system. Causal compensator is a design of stable compensator of RC in the form of proper transfer function. The design aims to ensure convergency, stability, and good tracking performance. This compensator can be realized independently without being attached to the internal model. Thus, the proposed design can reduce the complexity of the dual periods RC system. The dual periods RC system is designed to handle repetitive signal that consists of two fundamental frequencies. The compensator design is based on stability condition of dual periods RC system, and optimization is used to obtain the compensator parameters. Simulation results validates the proposed design.