a design method of robust stabilizing simple multi-period repetitive controllers论文.pdf

Proceedings of the 17th World Congress
The International Federation of Automatic Control
Seoul, Korea, July 6-11, 2008
A design method of robust stabilizing
simple multi-period repetitive controllers
Kou Yamada ∗ Takaaki Hagiwara ∗ Hiroshi Takenaga ∗
Masahiko Kobayashi ∗
∗ Gunma University, 1-5-1 Tenjincho, Kiryu, Japan
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 infinite number of poles. In order to
specify the input-output characteristic and the disturbance attenuation characteristic easily,
Yamada et al. propose 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 finite number of poles. However, the m