Improved sliding mode control method based on repetitive control

This paper proposes a sliding mode repetitive control system (SMRC). In this system, the repetitive controller (RC) and the sliding mode controller (SMC) are parallel in the current loop, and the advantages of the two controllers are combined, which makes the performance of the system better than the single SMC system. The RC part is used to compensate for the periodic disturbance and the sliding mode control part is used to improve the robustness to parameter changes. Finally, the feasibility of this method is proved by simulation and experimental results.