Repetitive control system: a new type servo system for periodic exogenous signals
Open accessAbstract
A control scheme called repetitive control is proposed, in which the controlled variables follow periodic reference commands. A high-accuracy asymptotic tracking property is achieved by implementing a model that generates the periodic signals of period L into the closed-loop system. Sufficient conditions for the stability of repetitive control systems and modified repetitive control systems are derived by applying the small-gain theorem and the stability theorem for time-lag systems. Synthesis algorithms are presented by both the state-space approach and the factorization approach. In the former approach, the technique of the Kalman filter and perfect regulation is utilized, while coprime factorization over the matrix ring of proper stable rational functions and the solution of the Hankel norm approximation are used in the latter one.>
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Voluntary or artificially elicited muscle contractions affect the severity of tremor.
“voluntary [24,25] or artificially elicited [26] muscle contractions affect the severity of the tremor, by generating forces on the musculoskeletal system.”
From A neuroprosthesis for tremor management through the control of muscle co-contraction (2013) · cites this paper as [24]
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A neuroprosthesis for tremor management through the control of muscle co-contraction
Gallego, J. Á., Rocon, E., Belda-Lois, J. M., & Pons, J. L. (2013) · Journal of NeuroEngineering and Rehabilitation · doi:10.1186/1743-0003-10-36 · Cited by 81 · see citing works
“Tremor parameters estimated during a (tremor) period were employed to generate the control action in the subsequent one, analogously to repetitive control theory [40].”
Method
- Authors
- Hara, S., Yamamoto, Y., Omata, T., & Nakano, M.
- Affiliations
- Tokyo Institute of Technology (JP)
- Kyoto University (JP)
- ORCID
- Venue
- IEEE Transactions on Automatic Control
- Published
- 1988-07
- Volume
- 33
- Issue
- 7
- Pages
- 659-668
- ISSN
- 0018-9286 (ISSN-L)
- OpenAlex
- W2165878769
- Cited by
- 1,407
- References
- 0
- Citations by year
- 2026: 21 · 2025: 32 · 2024: 33 · 2023: 36 · 2022: 35 · 2021: 60 · 2020: 50 · 2019: 57 · 2018: 34 · 2017: 67 · 2016: 56 · 2015: 54 · 2014: 55 · 2013: 64 · 2012: 61
- FWCI
- 19.43
- Type
- journal article
- Language
- en
- Open access
- Locations
- IEEE Transactions on Automatic Control (publishedVersion)
- Institutional Repositories DataBase (IRDB) (submittedVersion)
- Kyoto University Research Information Repository (Kyoto University) (submittedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Iterative Learning Control Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Design
- Physical Sciences › Engineering › Control and Systems Engineering › Control Systems and Identification
- Keywords
- repetitive control, periodic reference tracking, servo system, asymptotic tracking, stability conditions, small gain theorem, time-delay systems, coprime factorization, Hankel norm approximation, Kalman filter, state-space synthesis
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