2自由度繰返し制御系の一設計法(機械力学,計測,自動制御)

概要

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In the present paper, we examine a design method for 2-degree-of-freedom repetitive control systems. The 2-degree-of^freedom control has good characteristics, such as the input-output characteristics for the reference input and feedback control characteristics can be independently settled. 2-degree-of-freedom controllers consist of the feedforward controller and the feedback controller. Design method of feedback controller for the repetitive control systems has been considered sufficiently, but design of feed-forward controllers for the repetitive control system has not been considered yet. In order to design feed-forward controller for the repetitive control system, we must solve the interpolation problem. In addition, the interpolation problem for feed-forward controller for the repetitive control system has many interpolation points. No method has been proposed to solve the interpolation problem for feed-forward controller for the repetitive control system. The purpose of this paper is to give a design method for feed-forward controllers and to propose a design method of 2-degree-of-freedom repetitive control systems.
社団法人日本機械学会の論文
2004-04-25