96 A Design Method for Robust Stabilizing Multi-Period Repetitive Learning Controllers with the Specified Input-Output Characteristics

In this paper, we examine a design method for robust stabilizing multi-period repetitive learning controllers with the specified input-output characteristics for single-input/single-output systems. Satoh, Yamada and Mei considered the parametrization of all robust stabilizing multi-period repetitive learning controllers. However, using the parametrization by Satoh, Yamada and Mei, the input-output characteristics of the control systems cannot be settled easily. This paper aims to overcome this problem and proposes the parametrization of all robust stabilizing multi-period repetitive learning controllers with the specified input-output characteristics.