The parameterization of all stabilizing two-degree-of-freedom modified repetitive controllers for multiple-input/multiple-output plants

A modified repetitive control system is a type of servomechanism for a periodic reference input. It follows a periodic reference input without steady-state error, even when there is a periodic disturbance or an uncertainty of a plant. Recently, there are studies on the parameterization of all stabilizing modified repetitive controllers for multiple input/ multiple-output plants. From the practical point of view, it is desirable to specify the input-output characteristic and the feedback characteristic separately. However, the input-output characteristic and the feedback characteristic cannot be specified separately as it is desirable when the parameterization of this parameterization is used. In this paper, we propose the parameterization of all stabilizing two degree- of-freedom modified repetitive controllers for multiple input/ multiple-output plants that can specify the input-output characteristic and the feedback characteristic separately.