A Design Method of Repetitive Controllers for Nonmimimum-Phase Systems
2001 Volume 37 Issue 12 Pages 1121-1125
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2001 Volume 37 Issue 12 Pages 1121-1125
In this paper, we propose a design method of repetitive controllers. Our method is based on the factorization approach that consists of the coprime factorization of (augmented) plants and the solutions to so-called Diophantine equation. We do not use the small gain theorem. In our previous paper, we propose a design method for minimum-phase plants. Therefore, in this paper, we extend our method to nonminimum-phase plants.
