Multivariable repetitive control design framework applied to flatbed printing with continuous media flow

The production speed and medium versatility in traditional wide-format printers are limited by medium positioning errors caused by step-wise transportation. The aim of this paper is to develop a repetitive control (RC) framework, that enables continuous media flow printing with enhanced positioning accuracy and increased productivity. The developed framework explicitly addresses the trade-off between performance and model knowledge. Specific solutions that avoid the need for a full multivariable model include i) independent SISO design, and ii) sequential SISO design. The benefits of the pursued RC approach for continuous media flow printing are experimentally validated on an industrial flatbed printer.