A Design Method for Robust Stabilizing Simple Repetitive Controllers for Time-delay Plants

A simple repetitive controller was proposed by Yamada et al. It works as a modified repetitive controller. The transfer functions from the periodic reference input to the output, and from the disturbance to the output have a finite number of poles, and the input–output characteristics and the disturbance attenuation characteristics can be specified easily. However, this method cannot be applied to time-delay plants with uncertainty. We present a parameterization of all robust stabilizing simple repetitive controllers for time-delay plants with uncertainty.