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The disturbances acting on the track-following S e N O Wherexs R n is the State vector, system parameters A is n x n system of an optical disk drives inherently contain significant square matrices, is a scalar control input, is the nxl input periodic components that cause track error of a periodic nature. matrix and d is the nxidisturbance vectors, including periodic In this paper, the discrete-time sliding mode repetitive control (DSMRC) was developed, which can reject such disturbances.with known Period N, and non-periodicThe developed approach ensures the robustness of the sliding Component. The switching function is defined as mode dynamics to parameter uncertainties and exogenous s ( k ) = c i x ( k ) = 0(2) disturbances and the complete rejection of the periodic disturbance component. The satisfied simulation results as well as the experimental results using an optical disk drive are given to illustrate the validity of the proposed method.

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