Application of Repetitive Control to a Peristaltic Pump

The aim of this paper is to study angular velocity control of a rotating axis, a peristaltic pump where the disturbance is associated with certain angular positions. The use of constant sampling rate then implies varying disturbance period. A discrete repetitive control scheme based on a reduced order disturbance model tuned to the setpoint of the angular velocity is shown to reject the modeled disturbance with asymptotically zero error. With axis angle synchronization of sampling, the plant model is time-varying but it gives a static discrete disturbance model independent of the angular velocity. If the deviation from the nominal working point is not too large this is to prefer while it gives faster convergence.