A Design Method for Two-Degree-of-Freedom Multi-Period Repetitive Control Systems

Abstract

Multi-period repetitive controllers improve the disturbance attenuation characteristic of the modified repetitive control system that follows the periodic reference input with a small steady state error. Recently, the parameterization of all stabilizing multi-period repetitive controllers was studied. However, when the parameterization of all stabilizing multi-period repetitive controllers is used, the input-output characteristic and the feedback characteristic cannot be specified separately. From the practical point of view, it is desirable to specify the input-output characteristic and the feedback characteristic separately. In addition, the parameterization is useful to design stabilizing controllers. Therefore, the problem of obtaining the parameterization of all stabilizing two-degree-of-freedom multi-period repetitive controllers that can specify the input-output characteristic and the disturbance attenuation characteristic separately is important to solve. In this paper, we propose the parameterization of all stabilizing two-degree-of-freedom multi-period repetitive controllers.