本文針對週期性響應誤差之消除，運用重複性控制理論，與逐步嵌入補償器，建構一可使重複性輸入訊號之響應達到漸近穩定與有效抑制干擾之系統。藉由理論推導，本研究證明所導入之控制器不只能有效補償重複控制器之穩定範圍，亦能提高系統之強健性。本研究使用零相位誤差追蹤控制器，補償系統之相位落後，使系統之相角能落在穩定範圍內，讓重複控制器能有效的達到漸近追蹤之目的。此外，零相位低通濾波器的導入，則可提升系統之穩定度，改善系統之強健性。此外，再以命令前饋之概念，導入速度與加速度前饋增益，可以有效的提升重複性控制器之追蹤能力，改善系統響應誤差。最後，將所研究之理論實現於一龍門行線馬機台上，結果證明可以成功的應用於線型馬達機台之重複控制上。

The goal of this research is to eliminate the period tracking error via the design of discrete-time domain repetitive controller. In order to increase the stabilizing range and enhance the robust performance, through the derivation of theories, a phase compensator which is called ZPETC and a zero phase low-pass filter are used to compensate repetitive control. Furthermore, with the concept of command feedforward, we introduced the feedforward gains of speed and acceleration, which can forcefully enhance the tracking ability of the repetitive controller and improves on the errors of the system. Finally, we put into practice the theory we have been researched on a gantry type machinery platform with linear motors, and the results proved that the theory can be successfully reduce period tracking error.

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