%PID?Control?with?Repetitive?Control?compensation?
close all;
ts=0.001;
sys=tf(50,[0.000046,0.006,1,0]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');
q=tf(1,[0.20,1]);
dq=c2d(q,ts,'z');
[numq,denq]=tfdata(dq,'v');
F=1;
N=1/F*1/ts;
zz=tf([1],[1 zeros(1,N)],ts);
dz=dq*zz;
[numz,denz]=tfdata(dz,'v');
Gr=1/(1-dz);%Repetitive?controller
u_1=0;u_2=0;u_3=0;
y_1=0;y_2=0;y_3=0;
ei=0;
ue_1=0;ue_2=0;
ue_N=0;ue_N1=0;ue_N2=0;
e2_N=0;e2_N1=0;e2_N2=0;
e_N1=0;
e1_1=0;
e2_1=0;
for k=1:1:10000
time(k)=k*ts;
rin(k)=1.0*sin(F*2*pi*k*ts);
yout(k)=-den(2)*y_1-den(3)*y_2-den(4)*y_3+num(2)*u_1+num(3)*u_2+num(4)*u_3;
e(k)=rin(k)-yout(k);
ei=ei+e(k)*ts;
up(k)=1.5*e(k)+10*ei;
e1(k)=-denq(2)*e1_1+numq(2)*e_N1;
K=1.2;
e2(k)=K*e1(k);
ue(k)=0.8187*ue_1+0.1813*ue_N1+e2(k)-0.8187*e2_1;
M=2;
if M==1
u(k)=up(k);%Only?using?PID?
end
if M==2
u(k)=ue(k)+up(k);%Using?REP+PID?
end
if k>N
ue_N=ue(k-N);
e2_N=e2(k-N);
end
if k>N+1
ue_N1=ue(k-N-1);
e2_N1=e2(k-N-1);
e_N1=e(k-N-1);
end
if k>N+2
ue_N2=ue(k-N-2);
e2_N2=e2(k-N-2);
end
e1_1=e1(k);
e2_1=e2(k);
ue_2=ue_1;
ue_1=ue(k);
u_3=u_2;u_2=u_1;u_1=u(k);
y_3=y_2;y_2=y_1;y_1=yout(k);
end
figure(1);
plot(time,rin,'r',time,yout,'b');
xlabel('time(s)');ylabel('rin,yout');
figure(2);
plot(time,rin-yout,'r');ylabel('error');
xlabel('time(s)');ylabel('error');
figure(3);
plot(time,u,'r');
xlabel('time(s)');ylabel('u');
figure(4);
plot(time,up,'r',time,ue,'b');
xlabel('time(s)');ylabel('up,ue');
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