Abstract
In the present paper, we give explicit parametrization of all causal stabilizing repetitive controllers for single-input/single-output continuous time certain class of non-minimum phase systems. The parametrization of all causal stabilizing repetitive controllers was first studied by Hara and Yamamoto. Katoh and Funahashi give the parametrization for the class of all stabilizing repetitive controllers for minimum phase biproper plants by solving the Bezout equation explicitly. However, Katoh and Funahashi assumed the plant is asymptotically stable. Using parallel compensation technique, Yamada and Okuyama gave explicit parametrization of all repetitive controllers for minimum phase systems that is not necessarily stable. We expand the result by Yamada and Okuyama and give the parametrization of all causal stabilizing controllers for certain class of non-minimum phase systems. Finally, a numerical example is used to illustrate the effectiveness of the proposed method.
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