A Design Method for Repetitive Control Systems with a Multi-Period Repetitive Compensator

• Published in: Theoretical and Applied Mechanics Japan 2002, Vol.51, pp.161-167
• Main Authors: OKUYAMA, Tadashi, YAMADA, Kou, SATOH, Keiji
• Format: Article
• Language: English
• ISSN: 1348-0693; 1349-4244
• DOI: 10.11345/nctam.51.161

In this paper, we consider a design method for repetitive control systems with a multi-period repetitive compensator. The repetitive control system is a type of servomechanism for periodic reference signal. The repetitive control system is a neutral type of time delay system and cannot apply for strictly proper plants. Almost all plants are strictly proper. Several modifications of the repetitive control system for strictly proper plants are proposed. It is well known that modified repetitive control is easy to apply for strictly proper plants. Sugimoto and Washida pointed out that the phase angle of the low-pass filter in a repetitive compensator has a bad influence on disturbance attenuation characteristics. They overcame this problem and proposed a design method for repetitive control systems with corrected time delay. However, the method developed by Sugimoto and Washida has improved the disturbance attenuation characteristics only in the low frequency range. Generally, the disturbance includes variable frequency signals. In this paper, we propose a design method for repetitive control systems with multi-period repetitive compensator, in order to attenuate the disturbance with higher frequency range.