discrete wiederholungssteuerverfahren and device.

摘要

A discrete type repetition control apparatus is capable of stably controlling the repetition even when the status variables of the object to be controlled are not observable, and is provided with time delay elements (Z-1) of a number greater than a value that is obtained by dividing the period of a period target input by a sampling period of deviation between the period target input and the ouput of the object being controlled. To each time delay element is periodically applied the sum of a product of the deviation and a first gain (h1, ---, hn) related to each of the elements, a product of an input (u(k)) to the object being controlled and a second gain (m1, ---, mn) related to each of the time delay elements, and outputs (Wn(k+n), ---, W1(k+1)) of elements of the preceding stage. The control apparatus periodically applies to the object being controlled the sum (u(k)) of a product of the deviation and a third gain (h0) and the output (W1(k)) of a time delay element of the side of the object being controlled, in order to stably operate the object being controlled maintaining flexibility for a change in the period of the target input without inviting follow-up delay for the target input that periodically changes in a single pattern of change.