Robust adaptive repetitive control for unknown linear systems with odd-harmonic periodic disturbances

Edi Kurniawan, Hendra G. Harno, Hai Wang, Jalu A. Prakosa, Bernadus H. Sirenden, Harry Septanto, Hendra Adinanta, Akif Rahmatillah

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


This article presents a novel tracking control strategy for unknown linear systems perturbed by odd-harmonic periodic disturbances that combine adaptive and repetitive control methods. The proposed control strategy results in a robust adaptive odd-harmonic repetitive controller (RA-OHRC). Direct adaptive control with a robust adaptation law is utilized to accurately track the desired trajectory, ensuring the boundedness and convergence of the tracking error. An internal-model-based repetitive controller is added to compensate for periodic disturbances with odd-harmonic components. The boundedness and the convergence of the tracking error are verified through the Lyapunov-based stability analysis. The effectiveness of the proposed RA-OHRC scheme can be demonstrated using the simulation studies involving a servomotor model, which achieves accurate reference tracking, excellent disturbance rejection capability, and robustness against uncertainties.

Original languageEnglish
Article number222202
JournalScience China Information Sciences
Issue number12
Publication statusPublished - Dec 2022


  • direct adaptive control
  • odd-harmonic frequencies
  • periodic disturbances
  • repetitive control
  • unknown linear systems


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