A Design Method for Simple Multi-Period Repetitive Controllers with the Specified Input-Output Frequency Characteristic

概要

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The multi-period repetitive controllers were proposed by Gotou et al., in order to improve the disturbance attenuation characteristic of modified repetitive control systems. 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 infinite numbers of poles. To specify the input-output characteristic and the disturbance attenuation characteristic easily, Yamada and Takenaga proposed multi-period repetitive control systems, named simple multi-period repetitive control systems, where these transfer functions have finite numbers of poles. In addition, the parameterization of all stabilizing simple multi-period repetitive controllers was clarified. However, using the method by Yamada and Takenaga, it is complex to specify low-pass filters in the internal model for the periodic reference input of which the role is to specify the input-output frequency characteristic. The purpose of this paper is to propose the parameterization of all stabilizing simple multi-period repetitive controllers with the specified input-output frequency characteristic such that the input-output frequency characteristic can be specified beforehand.
日本学術会議「機械工学委員会・土木工学・建築学委員会合同IUTAM分科会」の論文