Variable–structure repetitive control for discrete–time linear systems with multiple–period exogenous signals

A new method to construct a discrete-time variable-structure repetitive controller for a class of linear systems perturbed by multiple-period exogenous signals is presented. The proposed control scheme combines the features of the discrete-time multiple-period repetitive control (MP-RC) and variable-structure control (VSC) techniques. The MP-RC part is assigned to simultaneously track and reject periodic signals consisting of multiple uncorrelated fundamental frequencies. The VSC part is then integrated to provide a fast transient response and robustness against plant parameter variations. Stability and robustness analyses are also elaborated to ensure that the resulting closed-loop system satisfies the desired control objectives. Moreover, it is shown through an example that the repetitive control system constructed using the proposed control method can effectively track a sinusoidal reference signal despite the presence of a multiple-period disturbance.