Analysis and estimation of tracking errors of plug-in type repetitive control systems

Wu Sung Yao, Mi Ching Tsai

Research output: Contribution to journalArticlepeer-review

37 Citations (Scopus)


Subject to stability constraints, tracking performance of a plug-in type repetitive control system with periodic inputs is explored in this note. An upper bound for the square integral of the tracking error over one time period of periodic input signals is derived based on Fourier analysis. The magnitude and the decay rate of the tracking error can be estimated using the harmonies of the input signal within the designed bandwidth. Both computer simulations and experimental results are presented to illustrate the effectiveness of the proposed method. It is also shown that the tracking error can decay significantly in the first two time periods in the proposed repetitive control system if the required bandwidth conditions are satisfied.

Original languageEnglish
Pages (from-to)1190-1195
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number8
Publication statusPublished - 2005 Aug

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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