{"data":{"id":"10.4121/9e923915-d9c8-4bd7-9cb1-5bc4c5622013","type":"dois","attributes":{"doi":"10.4121/9e923915-d9c8-4bd7-9cb1-5bc4c5622013","prefix":"10.4121","suffix":"9e923915-d9c8-4bd7-9cb1-5bc4c5622013","identifiers":[],"alternateIdentifiers":[],"creators":[{"name":"Dinkla, Rogier","nameType":"Personal","givenName":"Rogier","familyName":"Dinkla","nameIdentifiers":[{"nameIdentifier":"0009-0005-2717-9957","nameIdentifierScheme":"https://orcid.org/"}],"affiliation":[]},{"name":"Oomen, Tom","nameType":"Personal","givenName":"Tom","familyName":"Oomen","nameIdentifiers":[{"nameIdentifier":"0000-0001-7721-4566","nameIdentifierScheme":"https://orcid.org/"}],"affiliation":[]},{"name":"Mulders, Sebastiaan","nameType":"Personal","givenName":"Sebastiaan","familyName":"Mulders","nameIdentifiers":[{"nameIdentifier":"0000-0003-4689-257X","nameIdentifierScheme":"https://orcid.org/"}],"affiliation":[]},{"name":"van Wingerden, Jan-Willem","nameType":"Personal","givenName":"Jan-Willem","familyName":"van Wingerden","nameIdentifiers":[{"nameIdentifier":"0000-0003-3061-7442","nameIdentifierScheme":"https://orcid.org/"}],"affiliation":[]}],"titles":[{"title":"Code and data belonging to the publication \"Data-enabled Predictive Repetitive Control\""}],"publisher":"4TU.ResearchData","container":{},"publicationYear":2026,"subjects":[{"subject":"Mechanical Engineering","subjectScheme":"Australian and New Zealand Standard Research Classification (ANZSRC), 2008","classificationCode":"0913"},{"subject":"FOS: Mechanical engineering","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"Engineering","subjectScheme":"Australian and New Zealand Standard Research Classification (ANZSRC), 2008","classificationCode":"09"},{"subject":"Data-enabled Predictive Control"},{"subject":"Repetitive Control"},{"subject":"Data-driven control"},{"subject":"Predictive Control"},{"subject":"Fundamental Lemma"}],"contributors":[{"name":"TU Delft, Faculty of Mechanical Engineering, Delft Center for Systems and Control","nameType":"Organizational","affiliation":[],"contributorType":"Other","nameIdentifiers":[]}],"dates":[{"date":"2026-05-04","dateType":"Issued"}],"language":"en","types":{"ris":"COMP","bibtex":"misc","citeproc":"article","schemaOrg":"SoftwareSourceCode","resourceType":"Software","resourceTypeGeneral":"Software"},"relatedIdentifiers":[{"relationType":"IsSupplementTo","relatedIdentifier":"10.1109/cdc56724.2024.10886847","relatedIdentifierType":"DOI"},{"relationType":"IsVersionOf","relatedIdentifier":"10.4121/9e923915-d9c8-4bd7-9cb1-5bc4c5622013.v1","relatedIdentifierType":"DOI"}],"relatedItems":[],"sizes":[],"formats":["MATLAB/.m, MATLAB/.mat"],"version":"1","rightsList":[{"rights":"MIT License","rightsUri":"https://opensource.org/licenses/MIT","schemeUri":"https://spdx.org/licenses/","rightsIdentifier":"mit","rightsIdentifierScheme":"SPDX"}],"descriptions":[{"description":"This repository contains code and data belonging to the publication named \"Data-enabled Predictive Repetitive Control\", which forms part of the conference proceedings of the CDC 2024 in Milan. The code can be found in the git repo, the data is part of this upload.\u003cbr\u003eAbstract of the publication:Many systems are subject to periodic disturbances and exhibit repetitive behaviour. Model-based repetitive control employs knowledge of such periodicity to attenuate periodic disturbances and has seen a wide range of successful industrial implementations. The aim of this paper is to develop a data-driven repetitive control method. In the developed framework, linear periodically time-varying (LPTV) behaviour is lifted to linear time-invariant (LTI) behaviour. Periodic disturbance mitigation is enabled by developing an extension of Willems' fundamental lemma for systems with exogenous disturbances. The resulting Data-enabled Predictive Repetitive Control (DeePRC) technique accounts for periodic system behaviour to perform attenuation of a periodic disturbance. Simulations demonstrate the ability of DeePRC to effectively mitigate periodic disturbances in the presence of noise.","descriptionType":"Abstract"}],"geoLocations":[],"fundingReferences":[],"xml":"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