本文针对高精度转台恒速工作状态时存在的位置相关周期非线性扰动，提出了一种闭环迭代学习算法。
A current cycle iterative learning algorism is presented in this paper for the periodic position relevant nonlinear disturbance in the constant speed state of turntable.
针对高精度转台恒速工作状态时存在的位置相关周期非线性扰动，提出了一种闭环迭代学习算法。
A current cycle iterative learning algorism is presented for the periodic position relevant nonlinear disturbance in the constant speed state of turntable.
该多周期扰动力矩与转台三轴转速有关，影响转台的定位精度、位置精度和速率精度。
The multi-period disturbance torque is related to three-axis rotate speed of turntable and influences localization precision, position precision and speed precision of turntable.
所考虑的非线性扰动力矩是角位置的周期函数，这在实践中是很常见的。
The disturbance torque dealt with is assumed to be periodic in position, which is very common in practice.
提出了一种混合形式的鲁棒重复控制方法，来抑制转台速率系统中存在的位置相关周期性扰动。
A hybrid robust repetitive control scheme is presented to reject position relevant periodic disturbance in rate system of turntable.
提出了一种混合形式的鲁棒重复控制方法，来抑制转台速率系统中存在的位置相关周期性扰动。
A hybrid robust repetitive control scheme is presented to reject position relevant periodic disturbance in rate system of turntable.
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