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Repetitive Controller provides a very low THD in the quantities under control. It exhibits an inherent issue when operated to track variable frequency references. The paper deals with the analysis of the operating conditions when the controller is executed at variable frequency without any resynchronization with respect to the PWM carrier, which is the most common mode of operation. The delays introduced are then evaluated analytically concerning the sampling and output frequency that must be tracked. The proposed analysis allows obtaining the maximum delay affecting the control chain, which introduced by the Repetitive Control desynched operation. The knowledge of the delay introduced in the control loops is at the basis of any control tuning procedure and gains selection, even when adaptive control strategies are used.

Analytical Delay Evaluation for FPGA based Repetitive Controller in AC Variable Frequency Applications