離散時間適応繰り返し制御系の設計

抄録

This paper presents an adaptive repetitive control scheme for discrete-time linear systems. The boundedness of input and output signals, and the convergence of the control error are proved.
A discrete-time repetitive control structure with a specified convergence property for known parameters plants was considered by Shinnaka. However, when plant parameters are not known, the desired convergence speed is not accomplished. Since the algorithm with adaptive mechanism proposed here, is able to achieve the specified convergence rate of the control error for unknown parameters systems, the convergence speed is improved. Simulation examples are shown to confirm the effectiveness of the design scheme presented in this paper.