An Adaptive Integral Sliding Mode Control-Based Amplitude and Phase Compensation Repetitive Control Method

This article presents an adaptive integral sliding mode control-based amplitude and phase compensation repetitive-control method that achieves precise tracking control for nonlinear systems. An adaptive integral sliding mode controller handles system nonlinearity and helps stabilize the system, thus simplifying the system structure. An adaptive law removes the requirement of knowing the nonlinear information and helps quickly enter the sliding surface. An amplitude and phase compensation repetitive controller achieves precise control of periodic signals. This controller makes small changes in the positive-feedback loop to compensate for the amplitude and phase changes caused by the low-pass filter, which greatly improves the steady-state tracking performance compared with the conventional modified repetitive controller. Simulation and experimental results verify the effectiveness and superiority.