The Parameterization of All Robust Stabilizing Simple Repetitive Controllers

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概要

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• The modified repetitive control system is a type of servomechanism for the periodic reference input. That is, the modified repetitive control system follows the periodic reference input with small steady state error, even if a periodic disturbance or an uncertainty exists in the plant. Using previously proposed modified repetitive controllers, even if the plant does not include time-delay, transfer functions from the periodic reference input to the output and from the disturbance to the output have infinite numbers of poles. When transfer functions from the periodic reference input to the output and from the disturbance to the output have infinite numbers of poles, it is difficult to specify the input-output characteristic and the disturbance attenuation characteristic. From the practical point of view, it is desirable that the input-output characteristic and the disturbance attenuation characteristic are easily specified. In order to specify the input-output characteristic and the disturbance attenuation characteristic easily, transfer functions from the periodic reference input to the output and from the disturbance to the output are desirable to have finite numbers of poles. From this viewpoint, Yamada et al. proposed the concept of simple repetitive control systems such that the controller works as a modified repetitive controller and transfer functions from the periodic reference input to the output and from the disturbance to the output have finite numbers of poles. In addition, Yamada et al. clarified the parameterization of all stabilizing simple repetitive controllers. However, the method by Yamada et al. cannot be applied for the plant with uncertainty. The purpose of this paper is to propose the parameterization of all robust stabilizing simple repetitive controllers for the plant with uncertainty.

著者

• Takenaga Hiroshi

  Department Of Agricultural Chemistry Faculty Of Agriculture Tokyo University Of Agriculture

• YAMADA Kou

  Department of Mechanical System Engineering, Gunma University

• Hagiwara Takaaki

  Department Of Applied Physics Faculty Of Engineering University Of Tokyo

• Ando Yoshinori

  Department Of Applied Physics Faculty Of Engineering Nagoya University

• Tanaka Hiroshi

  Department Of Analytical Chemistry Faculty Of Pharmaceutical Sciences Hoshi University

• SAKANUSHI Tatsuya

  Department of Mechanical Systems Engineering, Gunma University

• MURAKAMI Iwanori

  Department of Mechanical Systems Engineering, Gunma University

• MATSUURA Shun

  Department of Mechanical Systems Engineering, Gunma University

• SAKANUSHI Tatsuya

  Department of Mechanical System Engineering, Gunma University

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