Repetitive Control (RC) designed with state feedback that includes past error feedforward and current error feedback schemes for linear time-invariant systems is reintroduced. Periodic disturbances are common within repetitive systems and can be represented with a time-delay model. The proposed design focuses on isolating the disturbance model and finding the overall transfer function around the delay model. The use of the small gain theorem around the delay model assures disturbance accommodation if stability conditions are achieved. This paper reintroduces the designed RC controller within the state feedback in the presence of both past error and current error structures. Robustness conditions are investigated and set to enhance system performance in the presence of modelling mismatch, which represents the novel contribution in this paper. Simulations demonstrate the advantages of the robust conditions obtained while improving system performance for dynamic perturbations.
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