多重周期繰返し補償器の一設計法 : 多重周期繰返し補償器のパラメトリゼーションを用いた設計法(機械力学,計測,自動制御)

概要

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In this paper, we investigate a design method for multi-period repetitive controllers for nonminimum phase systems. Multi-period repetitive controllers were proposed by Gotou et al. in order to improve the disturbance attenuation characteristics of conventional repetitive control systems. Yamada et al. proposed a design method of multi-period repetitive controllers to attenuate widefrequency disturbances based on the idea of changing time-delay. Steinbuch proposed a design method of multi-period repetitive controllers for systems with uncertain period time. In this way, several design methods for multi-period repetitive controllers have been proposed. However, the parametrization of all stabilizing multi-period repetitive controllers has not been considered yet. In this paper, we propose the parametrization of all stabilizing multi-period repetitive controllers. Next, we present a design method of multi-period repetitive controllers using the obtained parametrization.
社団法人日本機械学会の論文
2005-10-25