Designing robust repetitive controllers

Andrew W. Osburn, Matthew Franchek

Research output: Contribution to journalArticlepeer-review

24 Scopus citations


A method for designing repetitive feedback controllers using nonparametric frequency response plant models is developed. In comparison to the zero-phase-error (ZPE) controller (ASME J. Dyn. Syst. Meas. Control, 111, pp. 353-358), this method has the added benefit of providing improved transient performance when the plant inverse is unstable. In this controller design process, a connection is made between model uncertainty and the desired frequency response of the so-called q filter. Also, it will be shown that an optimal equiripple filter is useful when designing high-order q filters. The entire process was experimentally verified on an engine control application. A repetitive controller was used to determine the dynamic fueling requirements of a fuel injected, spark-ignition engine subjected to periodic changes in the throttle position. This fueling information is necessary when designing feedforward fueling algorithms.

Original languageEnglish (US)
Pages (from-to)865-872
Number of pages8
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number4
StatePublished - Dec 2004

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications


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