TY - GEN
T1 - An LMI approach for robust iterative learning control with quadratic performance criterion
AU - Nguyen, Dinh Hoa
AU - Banjerdpongchai, David
PY - 2008/12/1
Y1 - 2008/12/1
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
UR - http://www.scopus.com/inward/citedby.url?scp=64549160146&partnerID=8YFLogxK
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 -