Comparison of four discrete-time repetitive control algorithms

  title={Comparison of four discrete-time repetitive control algorithms},
  author={Carl J. Kempf and W C Messner and Masayoshi Tomizuka and Roberto Horowitz},
  journal={IEEE Control Systems},
Four different algorithms used for cancellation of periodic disturbances are presented and compared. For each method, the theoretical advantages and disadvantages, computational complexity, execution time, and method of implementation are discussed. Experimental data from the use of these algorithms in compensating for repetitive disturbances present in the tracking servo of a computer disk drive are presented.<<ETX>> 
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