A Tutorial on Predictive Repetitive Control

It is well known that in order to track a periodic reference signal or reject a periodic disturbance signal, the dominant frequency components of the reference or the disturbance signal need to be incorporated in the predictive control system design, leading to the so called predictive repetitive control systems. With the assumption of input disturbance acting on the system, there are two mainstream approaches to predictive repetitive control where the first is to embed a disturbance model into the predictive controller and the second is to estimate the disturbance model via an observer. The two approaches are different in their design and implementation. This tutorial paper will give an overview of both approaches and evaluate their performance via simulation studies.