繰返し制御系の外乱応答特性の改善

概要

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In this paper, we study on the disturbance attenuation characteristic of the repetitive control systems. The repetitive control system has bad disturbance attenuation characteristics. For the certain frequency disturbance, conventional repetitive compensator amplifies twice as worse as the disturbance response of the system without using repetitive compensator. The multi-period compensator proposed by Goto et al. can attenuate the worst amplification degree rather than the conventional repetitive compensator. Effectiveness of the multi period repetitive compensator for the disturbance is not so sufficient good. To overcome this problem, we propose the design method of the repetitive control by using two degree of freedom structure called pseudo internal model control structure. Even if the plant has unstable zeroes, we can attenuate the disturbance efficiently small.
社団法人日本機械学会の論文
1999-06-25