TY - GEN
T1 - An LMI approach for robust iterative learning control with quadratic performance criterion
AU - Nguyen, Dinh Hoa
AU - Banjerdpongchai, David
N1 - Funding Information:
We gratefully acknowledge the scholarship and collaborative research grant from JICA project for AUN/SEED-Net. We are thankful for the research facility provided by the Department of Electrical Engineering, Faculty of Engineering, Chulalongkorn University. We also appreciate comments from anonymous reviewers that help us improve the paper.
PY - 2008
Y1 - 2008
N2 - This paper presents the design of Iterative Learning Control based on Quadratic performance criterion (Q-ILC) for linear systems subject to additive uncertainty. Robust Q-ILC design can be cast as a min-max problem. We propose a novel approach which employs an upper bound of the worst-case error, then formulates a nonconvex quadratic minimization problem to get the update of iterative control inputs. Applying Langrange duality, the Lagrange dual function of the nonconvex quadratic problem is equivalent to a convex optimization over linear matrix inequalities (LMIs). An LMI algorithm with convergence properties is then given for the robust Q-ILC. Finally, we provide a numerical example to illustrate the effectiveness of the proposed method.
AB - This paper presents the design of Iterative Learning Control based on Quadratic performance criterion (Q-ILC) for linear systems subject to additive uncertainty. Robust Q-ILC design can be cast as a min-max problem. We propose a novel approach which employs an upper bound of the worst-case error, then formulates a nonconvex quadratic minimization problem to get the update of iterative control inputs. Applying Langrange duality, the Lagrange dual function of the nonconvex quadratic problem is equivalent to a convex optimization over linear matrix inequalities (LMIs). An LMI algorithm with convergence properties is then given for the robust Q-ILC. Finally, we provide a numerical example to illustrate the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=64549160146&partnerID=8YFLogxK
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U2 - 10.1109/ICARCV.2008.4795802
DO - 10.1109/ICARCV.2008.4795802
M3 - Conference contribution
AN - SCOPUS:64549160146
SN - 9781424422876
T3 - 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008
SP - 1805
EP - 1810
BT - 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008
T2 - 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008
Y2 - 17 December 2008 through 20 December 2008
ER -