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.

A New Design Method of High-Order Modified Repetitive Control Systems for Reference Inputs with Uncertain Period-Time

“…Obviously, Figure 3 illustrates that ( ) ∈ ∞ . This demonstrates that the design method for the free parameters̃( ) and 0 ( ) is much more effective than that in [12,13].…”

“…For multiple-period systems that have a similar structure to the high-order repetitive control system, solutions are given by Yamada et al [12] and Yamada et al [13] using the Youla-Kucera parametrization (YKP) without solving the problem of designing the free parameters.…”

“…Parameters 0 ( ) and̃( ). In [12,13], the designs of the free parameters use the Nyquist stability criterion by manual examination, which is very difficult and inefficient. To resolve this problem, it was essential to establish an efficient and easy design method for the free parameters.…”

“…To address these problems, the so-called high-order repetitive control has been established [5][6][7][8][9][10][11][12][13]. Inoue [6] first proposed the high-order repetitive controller to improve the control precision and cancel out the phase lag.…”

Dynamic Characteristics Study with Multidegree-of-Freedom Coupling in TBM Cutterhead System Based on Complex Factors

“…Some related literature on multidegree-of-freedom coupling dynamic model have been published recently. Sakanushi et al [17] and Yamada et al [18] proposed the control characteristics and a design procedure of a two-degree-of-freedom simple repetitive control system which can specify the input-output characteristic and the disturbance attenuation characteristic separately, and a numerical example and an application in motors were presented to illustrate the effectiveness, which showed that the control system was expected to be used in practical applications. A six-degree-of-freedom fully-coupled plant model used in underwater vehicles was reported in [19], and the comparative experimental evaluations were estimated experimentally from data obtained in free-motion vehicle trials, which might be able to predict the performance of underwater vehicles.…”