A Design Method for Multi-period Repetitve Controllers (Design Method Using the Parametrization of All Multi-period Repetitive Controllers)

In this paper, we investigate a design method for multi-period repetitive controllers for non-minimum phase systems. Multi-period repetitive controllers were proposed by Gotou et al. in order to improve the disturbance attenuation characteristics of conventional repetitive control systems. Yamada et al. proposed a design method of multi-period repetitive controllers to attenuate wide-frequency disturbances based on the idea of changing time-delay. Steinbuch proposed a design method of multi-period repetitive controllers for systems with uncertain period time. In this way, several design methods for multi-period repetitive controllers have been proposed. However, the parametrization of all stabilizing multi-period repetitive controllers has not been considered yet. In this paper, we propose the parametrization of all stabilizing multi-period repetitive controllers. Next, we present a design method of multi-period repetitive controllers using the obtained parametrization.