Friction compensator based repetitive control with application to a brushless DC servo motor

摘要

A friction compensator based repetitive control (FCRC) is proposed in this paper to improve tracking periodic reference, and compensating frictions. The stability analysis is conducted, and the design conditions are presented to ensure a stable system. Then, MATLAB Simulink is applied to simulate the proposed algorithm. The comparison studies are conducted to show the effectiveness of the FCRC.