A modified repetitive controller and its application to high-frequency angular-vibration table

Designed method of a modified repetitive controller is proposed and its application to high-frequency angular-vibration table is introduced. This control technique resolves the main problem that is how to promote the tracking precision of the periodic reference input signal in the high-frequency. The forward channel of modified repetitive controller introduces a adjustable gain that is related to parameter of low-pass filter. The conditions of stability and the designed method of correlation parameters in the controller are deducted. Robustness and tracking accuracy are discussed. Experimental results verified the robust stability of modified repetitive control systems. The simulation results show that tracking precision of the modified repetitive controller in the high frequency is advanced in comparison with tacking precision of the PID controller. Total harmonic distortion and influence to angular acceleration of table can be improved by applying the modified repetitive controller.