ADRC with built-in RLC control scheme for uncertain systems with periodic reference input

Active disturbance rejection control (ADRC) method has shown strong capabilities to handle system uncertainties. As for dealing with the periodic reference input signal, the repetitive learning control (RLC) method is often applied in practice to improve the system performance. In this paper, a distinct framework is proposed for the design and implementation of integrating the advantages of RLC and ADRC for uncertain systems with periodic reference input. An extra control input produced by built-in RLC scheme is added to the state error feedback (SEF) part of ADRC system. The stability of ADRC with built-in RLC scheme is proved. Simulations show that the proposed method is effective and can achieve better performance than the classic ADRC.