Enhanced Smith Predictor based Active Disturbance Rejection Control for Tracking and Rejecting Periodic Signals on Time Delay Systems*

Smith Predictor based Active Disturbance Rejection Control (SPADRC) allows compensation of systems with dominant input delay in addition to its intrinsic ability to deal with external disturbances and unknown model uncertainties. However, its performance is affected by large steady state error when tracking or rejecting periodic signals. Addressing this problem, this paper presents a novel Repetitive Control with Smith Predictor based Active Disturbance rejection (RCSPADRC) to simultaneously track and reject periodic signal on a time delay system. Comparison studies shows RCSPADRC has superior performance.