An improved sliding-mode repetitive learning control scheme using wavelet transform

Yu Sheng Lu, Bing Xuan Wu, Shu Fen Lien

Research output: Contribution to journalArticle

5 Citations (Scopus)


This paper presents an enhanced sliding-mode repetitive learning control (SMRLC) scheme using the wavelet transform. Distinct from previous wavelet transform-based repetitive control schemes, the proposed SMRLC learns from a switching signal that is equivalent to the compensation error of the SMRLC, thereby speeding up the learning process. The wavelet analysis is employed to decompose the switching signal, capture its low-frequency components effectively, and synthesize a de-noised, high-scale signal for the learning process. Experimental study on a directly driven Hoekens straight-line mechanism is conducted, and the proposed wavelet transform-based SMRLC is experimentally compared with a Fourier series-based SMRLC.

Original languageEnglish
Pages (from-to)991-1001
Number of pages11
JournalAsian Journal of Control
Issue number4
Publication statusPublished - 2012 Jul



  • repetitive learning control
  • Sliding mode
  • wavelet transform

ASJC Scopus subject areas

  • Control and Systems Engineering

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