Comparing repetitive control strategies in lift applications

The goal of the control system in lift application inhigh-speed/ high-rise applications is to maximize  speed  withoutsacrificing  passengers  comfort. Lifts are affected by position-based disturbances, which could be compensated by employing arepetitive control strategy. Lifts also have nonlinearities due to therope mass and stiffness variation with respect to the position. Thispaper analyzes the performance of LTI position-based repetitivecontrol strategies in lift applications. Simulation with a nonlinear model of the lift shows that repetitive control strategies could improve control performance. In  particular, Gaussian Process Repetitive Control is less sensitive to the  nonlinearities and provides fewer oscillations