Robust iterative learning control for linear systems subject to time-invariant parametric uncertainties and repetitive disturbances

Hoa Dinh Nguyen, David Banjerdpongchai

Research output: Contribution to journalArticle

Abstract

This paper presents the design of a robust Iterative Learning Control (ILC) algorithm for linear systems in the presence of parametric uncertainties and repet-itive disturbances. The robust ILC design is formu-lated as a min-max problem with a quadratic perfor-mance index subjected to constraints of the control input. Employing Lagrange duality, we can refor-mulate the robust ILC design as a convex optimiza-tion problem over linear matrix inequalities (LMIs). An LMI algorithm for the robust ILC design is then given. Finally, the effectiveness of the proposed ro-bust ILC algorithm is demonstrated through a nu-merical example.

Original languageEnglish
Pages (from-to)169-176
Number of pages8
JournalTransactions on Electrical Engineering, Electronics, and Communications
Volume9
Issue number1
Publication statusPublished - Feb 1 2011

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Linear systems
Linear matrix inequalities
Uncertainty

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Electrical and Electronic Engineering

Cite this

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