11812 多入力多出力系に対するシンプル多重周期繰返し補償器の設計法(OS5 運動と制御(3),オーガナイズドセッション)

概要

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The multi-period repetitive control system is a type of servomechanism for periodic reference inputs. Even if a plant does not include time-delays, using multi-period repetitive controllers, transfer functions from the periodic reference input to the output and from the disturbance to the output of the multi-period repetitive control system generally have an infinite number of poles. To specify the input-output characteristic and the disturbance attenuation characteristic easily, Yamada and Takenaga proposed a design method for simple multi-period repetitive controllers, such that the controller works as a stabilizing multi-period repetitive controller and transfer functions from the periodic reference input to the output and from the disturbance to the output have a finite number of poles. However, their method cannot be applied to multiple-input/multiple-output plants. The purpose of this paper is to propose a design method for simple multi-period repetitive controllers for multiple-input/multiple-output plants.
2010-03-09