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Motion systems are often subject to disturbances such as cogging, commutationerrors, and imbalances, that vary with velocity and appear periodic in time forconstant operating velocities. The aim of this paper is to develop a repetitivecontroller (RC) for disturbances that are not periodic in the time domain, yetoccur due to an identical position-domain disturbance. A new spatial RCframework is developed, allowing to attenuate disturbances that are periodic inthe position domain but manifest a-periodic in the time domain. A Gaussianprocess (GP) based memory is employed with a suitable periodic kernel that caneffectively deal with the intermittent observations inherent to the positiondomain. A mechatronic example confirms the potential of the method.

Gaussian Process Repetitive Control for Suppressing Spatial Disturbances