Multivariable Repetitive Sliding Mode Control with Frequency Estimator: Rejection of Sinusoidal Disturbances with Time Varying Frequency

In this paper a repetitive sliding mode control (RSMC) with frequency estimator for discrete multivariable systems to reject unknown sinusoidal disturbances is proposed. The RSMC can reject only the harmonic disturbances with known frequency. When, this frequency is unknown or varying in time, we use a new strategy based on the combination between the multivariable RSMC and an on-line frequency estimator. The simulation results are satisfactory and show a good performances in terms of tracking reference trajectories in spite of the presence of sinusoidal disturbances with time varying frequency.