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为了抑制恒速旋转控制系统中的位置相关扰动，我们提出了一种非常有效的方法，它引入一种称为“位置域”的新概念．但是，由于一个线性对象的位置域模型实际上是非线性的，因而线性控制策略有时不能满足设计要求．本文提出一种非线性重复控制方法来解决这个问题．设计控制系统的过程分为两步，首先是利用输入输出线性化方法把位置域非线性对象的输入输出特性线性化，然后针对线性化对象设计一种重复控制器，以保证好的控制性能．
In order to suppress position-dependent perturbations in a constant-speed rotating control system, we propose a very efficient method that introduces a new concept called “location domain.” However, since the linear domain model of a linear object is actually non-linear, the linear control strategy sometimes can not meet the design requirements. This paper presents a non-linear repetitive control method to solve this problem. The process of designing a control system is divided into two steps. First, the input-output linearization method is used to linearize the input-output characteristics of nonlinear objects in the location domain. Then, a repetitive controller is designed for linearized objects to ensure good control performance.