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Introduction

  • Quan QuanEmail author
  • Kai-Yuan Cai
Chapter

Abstract

There are several examples of periodic phenomena, such as the orbital motion of heavenly bodies and heartbeats, that can be observed in nature. In practice, many control tasks are often considered to exhibit periodic behavior. Industrial manipulators are often used to track or reject periodic exogenous signals when performing picking, placing, or painting operations. Moreover, some special applications of these periodic exogenous signals include magnetic spacecraft attitude control, active control of helicopter vibrations, autonomous vertical landing in an oscillating platform, elimination of harmonics in aircraft power supply, satellite formation, light-emitting diode tracking, control of hydraulic servomechanisms, and control of lower limb exoskeletons. High-precision control performance can be realized for such periodic control tasks using repetitive control (RC, or repetitive controller, which is also designated as RC). RC was initially developed for continuous single-input, single-output (SISO) linear time-invariant (LTI) systems in [1] to accurately track periodic signals with a known period. RC was then extended to multiple-input multiple-output (MIMO) LTI systems in [2]. Since then, RC has been the subject of increasing attention, and applications that employ RC have become a special subject of focus in control theory.

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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.School of Automation Science and Electrical EngineeringBeijing University of Aeronautics and AstronauticsBeijingChina

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