Abstract
AbstractMulti-period repetitive controller was proposed by Gotou et al., in order to improve the disturbance attenuation characteristic of modified repetitive control systems and that follows the periodic reference input with 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. Yamada et al. solved this problem by obtaining the parameterization of all stabilizing two-degree-of-freedom multi-period repetitive controllers. However, the method by Yamada et al. cannot be applied to multiple-input/multiple-output plants. Because, the method by Yamada et al. uses the characteristic of single-input/single-output system. In this paper, we propose the parameterization of all stabilizing two-degree-of-freedom multi-period repetitive controllers for multiple-input/multiple-output systems.
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