A Design Method for Robust Stabilizing Simple Multi-Period Repetitive Controllers for Time-Delay Plants
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Abstract
A multi-period repetitive control system is a type of servomechanism for a periodic reference input. Even if a plant does not include time-delay, the transfer function from the periodic reference input to the output and that from the disturbance to the output of the multi-period repetitive control system generally have an in¯nite number of poles. When the transfer function from the periodic reference input to the output and that from the disturbance to the output have an in¯nite number of poles, it is difficult to settle the input-output characteristic and the disturbance attenuation characteristic of the multi-period repetitive control system. In order to specify the input-output characteristic and the disturbance attenuation characteristic easily, Yamada and Takenaga proposed the concept of simple multi-period repetitive control systems such that the controller works as a stabilizing multi-period repetitive controller and the transfer function from the periodic reference input to the output and that from the disturbance to the output have a ¯nite number of poles. However, the method by Yamada and Takenaga cannot be applied to time-delay plants with uncertainty. The purpose of this paper is to propose the concept of robust stabilizing simple multi-period repetitive controllers for time-delay plants with uncertainty and to clarify the parametrization of all robust stabilizing simple multi-period repetitive controllers for time-delay plants with uncertainty.
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