The Parameterization of All Robust Stabilizing Simple Multi-Period Repetitive Controllers

Multi-period repetitive (MPR) controllers were proposed by Gotou et al., in order to improve the disturbance attenuation characteristic of modified repetitive control systems. Using MPR controllers, transfer functions from the periodic reference input to the output and from the disturbance to the output of the control system generally have infinite numbers of poles. TO specify the input-output characteristic and the disturbance attenuation characteristic easily, Yamada et al. proposed MPR control systems, named simple MPR control systems, where these transfer functions have finite numbers of poles. However, the parameterization of all robust stabilizing simple MPR controllers for the plant with uncertainties has not been considered yet. In this paper, we propose the parameterization of all robust stabilizing simple MPR controllers.