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The modified repetitive control system is a type of servo mechanism designed for a periodic reference input. Recently, the parametrization of all stabilizing modified repetitive controllers is obtained by Satoh and Yamada. Since the parametrization of all stabilizing modified repetitive controllers is obtained, we can express previous studies of modified repetitive control system in a uniform manner...
This paper reports the development of a street performance robot "SOMENOSUKE" which mimics Japanese traditional juggling "KUWAEBACHI". In this performance, an entertainer holds a drumstick in his/her mouth and then balances an object such as a ball or a teapot on it with great concentration. By considering this trick as a kind of visual feedback control by humans, we develop a...
In the present paper, we consider a design method that provides low-sensitivity control with robust stability for multiple-input/multiple-output continuous time-invariant systems having an uncertain number of unstable poles. First, the class of uncertainty considered in the present paper is defined and the necessary and sufficient robust stability condition is presented for the system having this...
A multi-period repetitive control system is a type of servomechanism for a periodic reference input. Even if a plant does not include time-delay, the transfer function from the periodic reference input to the output and that from the disturbance to the output of the multi-period repetitive control system generally have an infinite number of poles. The purpose of this paper is to propose the concept...
In this paper, we consider the robust stability condition for single-input/single-output time-delay plants with new class of uncertainties. First of all, we define a class of uncertainties to be considered. The necessary and sufficient robust stability condition for time-delay plants with such class of uncertainties is presented. The relation between the time-delay plant and the nominal time-delay...
We present a solution to the benchmark problem of position control for a coupled three-inertia system. We adopt two-degree of freedom control structure that provides the feedforward controller based on the idea of filtered inverse system. The feedback controller is given by the robust control design method using the phase information proposed by Yamada (1982). We cannot satisfy all of the specifications,...
We examine antiwindup internal model control with control input saturation. Past studies of antiwindup control systems have not considered the influence of disturbance. We give a new design method-antiwindup internal model control systems with unknown external signal. This method is constructed by a fusion of the internal model control structure and the disturbance observer. Using the present method,...
We examine robust repetitive control systems. The robust repetitive control design method of past studies must solve the /spl mu/ analysis problem. In the present paper, we give a design method of robust repetitive control systems without solving the /spl mu/ analysis problem. This method uses the free parameter of the controllers designed based on H/sub /spl infin// control theory. We give a simple...
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