**Robust Adaptive Repetitive and Iterative Learning Control for Rotary Systems Subject to Spatially Periodic Uncertainties**

Cheng‐Lun Chen

Additional information is available at the end of the chapter

http://dx.doi.org/10.5772/63082

### **Abstract**

This book chapter reviews and summarizes the recent progress in the design of spatial‐ based robust adaptive repetitive and iterative learning control. In particular, the collection of methods aims at rotary systems that are subject to spatially periodic uncertainties and based on nonlinear control paradigm, e.g., adaptive feedback linearization and adaptive backstepping. We will elaborate on the design procedure (applicable to generic *n*th‐ order systems) of each method and the corresponding stability and convergence theorems.

**Keywords:** rotary system, disturbance rejection, robust adaptive control, repetitive control, iterative learning control
