Patent ID: 7779061

Claim:
A repetitive controller with positive feedback and feedforward, the repetitive controller including: a first adder, a second adder, and a time delay circuit for imparting a time delay, wherein the first adder receives an input periodic signal inputted into the controller for compensation and also receives a feedback signal, wherein the first adder outputs a first output signal corresponding to a summation of the input periodic signal and the feedback signal, wherein the second adder receives the first output signal and a feedforward signal, wherein the second adder outputs a controller output signal, the controller output signal corresponding to a summation of the first output signal and the feedforward signal and the controller output signal corresponding to the input periodic signal after being compensated by the repetitive controller, wherein the feedforward signal corresponds to the first output signal delayed by the time delay circuit, and wherein the feedback signal corresponds to the first output signal delayed by the time delay circuit.