Digital Repetitive Control under Nonuniform Sampling: An LMI Stability Analysis

Figure 10

Closed-loop system behavior using a repetitive controller and with sampling period 𝑇_𝑠. (a) Fixed at the nominal value (𝑇^𝑁_𝑠=5 ms); (b) obtained from a 2nd order frequency observer for 𝑇_𝑝; (c) obtained from an exact estimation of 𝑇_𝑝.

(a)

(b)

(c)