A design method of 2-degree-of-freedom repetitive control systems

In the present paper, we examine a design method of 2-degree-of-freedom repetitive control systems. The 2-degree-of-freedom control has good characteristics, such as the input-output characteristics for the reference input and feed-back control characteristics can be independently settled. 2-degree-of-freedom controllers consist of the feed-forward controller and the feed-back controller. Design methods of feed-back controller for the repetitive control systems have been considered sufficiently, but design methods of feed-forward controllers for repetitive control systems have not been considered yet. In order to design feed-forward controller for the repetitive control system, we must solve the interpolation problem. In addition, the interpolation problem for feed-forward controller for the repetitive control system has many interpolation points. No method has been proposed to solve the interpolation problem for feed-forward controller for the repetitive control system. The purpose of this paper is to propose a simple design method for feed-forward controllers and to present a design method of 2-degree-of-freedom repetitive control systems.