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A New Filter Design and Optimization Framework for Enhancing Transient and Steady-State Tracking in
IEEE Transactions on Cybernetics
|January 21, 2026
Summary
This study introduces a novel filter design for repetitive control systems, enhancing both speed and accuracy. The method optimizes performance by minimizing errors without widening bandwidth, improving tracking and reducing energy use.
Area of Science:
- Control Systems Engineering
- Signal Processing
Background:
- Repetitive control systems require low-pass filters for stability.
- Conventional filters degrade tracking accuracy due to gain attenuation and phase lag.
Purpose of the Study:
- To present a new filter design and optimization method for continuous-time repetitive-control systems.
- To improve both transient response and steady-state tracking accuracy.
Main Methods:
- Rigorous analysis of conventional filter characteristics.
- Design of a new filter structure for precise compensation at fundamental frequency.
- Development of a multiobjective optimization framework using dual performance indices.
Main Results:
- The new filter precisely compensates for gain attenuation and phase delay without increasing bandwidth.
- A guideline for selecting filter parameters for periodic trajectories is provided.
- Optimal balance achieved between transient convergence and control energy efficiency.
Conclusions:
- The proposed method effectively enhances repetitive control system performance.
- Experimental validation confirms the superiority of the new design over conventional approaches.
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