多重周期繰返し補償器を用いた繰返し制御系の一設計法

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  • A Design Method of Repetitive Control Systems with Multi-Period Repetitive Compensator
  • タジュウ シュウキ クリカエシ ホショウキ オ モチイタ クリカエシ セイギョケイ ノ イチ セッケイホウ

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In the present paper, we examine a design for repetitive control systems with multi-period repetitive compensator. The repetitive control system is a type of servomechanisms for periodic signal. The repetitive control system is a neutral type of time delay system and can not apply for strictly proper plants. Almost all plants are strictly proper. Several modifications of repetitive control system for strictly proper plants are proposed. One of them, it is well known that the modified repetitive control is easy to apply for strictly proper plants. Sugimoto and Washida point out that if time-delay is settled to cancel the phase angle of low-pass filter in the repetitive compensator, then the disturbance attenuation characteristics is improved. However, the method by Sugimoto and Washida improve the disturbance attenuation characteristics in only low frequency range. Generally, the disturbance includes variable frequency signals. In this paper, in order to attenuate the disturbance with higher frequency range, we overcome this problem and propose a design method for repetitive control systems with multi-period repetitive compensator. In addition, a design method for repetitive control systems, which is stable, is given.

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