Asymptotic rejection of periodic disturbances with fixed or varying period

Shiang Hwua Yu, Jwu-Sheng Hu

Research output: Contribution to journalArticlepeer-review

17 Scopus citations


A constructive derivation of repetitive control is obtained, through attempting to derive a control law for asymptotic rejection of periodic disturbances. This derivation not only reveals a close relationship between iterative operator inversion and repetitive control, but also suggests a unified design method for a learning control algorithm. Also, based on the observation, digital repetitive control can be generalized to reject periodic disturbance whose period is not exactly an integer multiple of the sampling interval. This study introduces a delay filter in the digital repetitive control law, which optimally interpolates the signal between samples, thus effectively reconstructing the signal of the previous period and making the learning process of repetitive control successful. The proposed optimal delay filter can be updated easily according to different signal periods. Thus it is specifically suitable for on-line tuning when the signal period is changing. Compared with the available tuning methods, the proposed tuning method has excellent steady-state performance while maintaining fast transient and system robustness. The simulations on active noise cancellation within a duct confirm the superiority of this tuning method.

Original languageEnglish
Pages (from-to)324-329
Number of pages6
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number3
StatePublished - Sep 2001


  • periodic control
  • discrete time systems
  • filtering theory
  • active noise control
  • tuning
  • digital control
  • learning systems


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