A design method for robust stabilizing simple multi-period repetitive controllers for time-delay plants

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 of robust stabilizing simple multi-period repetitive controllers for time-delay plants with uncertainty and to clarify the parametrization of all robust stabilizing simple multi-period repetitive controllers for time-delay plants with uncertainty.