抄録
The modified repetitive control system is a type of servomechanism for the periodic reference input. That is, the modified repetitive control system follows the periodic reference input with small steady state error, even if a periodic disturbance or an uncertainty exists in the plant. Using previously proposed modified repetitive controllers, even if the plant does not include time-delay, transfer functions from the periodic reference input to the output and from the disturbance to the output have infinite numbers of poles. This makes it difficult to specify the input- output characteristic and the disturbance attenuation characteristic. To specify the input-output characteristic and the disturbance attenuation characteristic easily, Yamada et al. proposed the concept of simple repetitive control systems such that the controller works as a modified repetitive controller and transfer functions from the periodic reference input to the output and from the disturbance to the output have finite numbers of poles. In addition, Yamada et al. clarified the parameterization of all stabilizing simple repetitive controllers. Recently, Sakanushi et al. proposed the parameterization of all robust stabilizing simple repetitive controllers for multiple-input/multiple- output time-delay plants with uncertainty. However, using their method, it is complex to specify the low-pass filter in the internal model for the periodic reference input of which the role is to specify the input-output characteristic. Because, the low-pass filter is related to three free parameters in the parameterization. To specify the input-output characteristic easily, this paper proposes the parameterization of all robust stabilizing simple repetitive controllers for multiple-input/multiple-output time-delay plants with specified input-output characteristic such that the input- output characteristic can be specified beforehand.
