Robust iterative learning control for flexible link under parametric uncertainty

Hoa Nguyen Dinh, David Banjerdpongchai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper, we present the design of a robust Iterative Learning Control (ILC) algorithm for a single flexible link in the presence of parametric uncertainty. The robust ILC design is formulated as a min-max problem with a quadratic performance index. An upper bound of the worst-case performance is employed in the min-max problem. Applying Lagrange duality to the min-max problem, we can reformulate the robust ILC design as a convex optimization over linear matrix inequalities (LMIs). An LMI algorithm for the robust ILC design is given. Finally, the simulation results for a single flexible link are presented to illustrate the effectiveness of the proposed robust ILC algorithm.

Original languageEnglish
Title of host publication2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009
Pages376-379
Number of pages4
DOIs
Publication statusPublished - Oct 22 2009
Externally publishedYes
Event2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009 - Chonburi, Thailand
Duration: May 6 2009May 9 2009

Publication series

Name2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009
Volume1

Other

Other2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009
CountryThailand
CityChonburi
Period5/6/095/9/09

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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  • Cite this

    Dinh, H. N., & Banjerdpongchai, D. (2009). Robust iterative learning control for flexible link under parametric uncertainty. In 2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009 (pp. 376-379). [5137030] (2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009; Vol. 1). https://doi.org/10.1109/ECTICON.2009.5137030