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Please use this identifier to cite or link to this item: http://hdl.handle.net/10087/5717

Title: Two-step Design Method for Robust Repetitive Control Systems
Authors: YAMADA, Kou
ARAKAWA, Tooru
HOSHI, Hironobu
OKUYAMA, Tadashi
Keywords: Repetitive Control
Robust Stability
Parameterization
Robust Servo
Filtered Inverse System
Issue Date: 15-Sep-2003
Publisher: 社団法人日本機械学会
Citation: JSME international journal Series C Mechanical systems machine elements and manufacturing. 46(3), 1068-1074 (2003)
Abstract: We propose a design method for robust modified repetitive control systems without solving the μ synthesis problem using a two-step design method. The basic idea of the two-step design method is that if the modified repetitive control system is robustly stable, then the modified repetitive controller must satisfy the robust stability condition. The parameterization form of all robustly stabilizing controllers for the plant are obtained using an H_∞ problem based on either the Riccati equation or on a Linear Matrix Inequality. Using the free parameter of the parameterization, we can design robust modified repetitive control systems. The necessary condition for the existence of robust modified repetitive controllers is given. Using the proposed method, the limitation on the low pass filter in the repetitive controller that exists in the robust repetitive controller is clarified. A numerical example is used to illustrate the effectiveness of the proposed method.
URI: http://hdl.handle.net/10087/5717
ISSN: 13447653
Appears in Collections:学術雑誌論文

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