In our previous paper, a discrete-time preview-repetitive control method was presented. The experimental results on motor position control systems demonstrated the applicability of the method. In this paper, a more generalized discrete-time preview-repetitive control method is presented. It is shown that the control systems include phase lead compensations that depend on the prediction horizons. The sufficient conditions for the stability of the systems are derived and the relations between the design parameters and the stability are studied. For motor position control systems, the results of simulations and experiments show that the robust stability against the modeling errors due to the inertial load's changes can be improved by increasing the prediction horizon, which is the dominant parameter.
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