| 摘要 |
PROBLEM TO BE SOLVED: To change the learning time in a range covering single cycle of an input signal through the infinite time by constructing the input signal of a learning memory with a signal obtained by multiplying the present signal by (k) and a signal obtained by multiplying the output of the learning memory one cycle before by (1-k) respectively. SOLUTION: The tracking error signal equivalent to one cycle is added to the output of a feedback loop at an addition point 1, and at the same time, this addition signal is inputted to a gain element 5 included in the feedback loop. Then, the signal inputted to the element 5 is multiplied by (k) and inputted to a learning memory 4. Then, a block which consists of a gain element 6 of (1-k) and is positively fed back is inputted to the memory 4. Thus, the storage of a single time lasts for a long period via the element 6. The output of the memory 4 is multiplied byβwith a gain element 2 through an LPF 3. Thisβ-fold output signal is added to the point 1. Thus, it is possible to obtain a repetitive compensator that can store the periodical components for a long term.
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