### Abstract

In this paper, a new robust Iterative Learning Control (ILC) algorithm has been proposed for linear systems In the presence of iteration-varying parametric uncertainties. The robust ILC design is formulated as a min-max problem usmg a quadratic performance criterion subject to constraints of the control input update. An upper bound of the maximization problem is derived, then, the solution of the min-max problem is achieved by solving a minimization problem. Applying Lagrange duality to this minimization problem results in a dual problem which can be reformulated as a convex optimization problem over linear matrix inequalities (LMls). Next, we present an LMI-based algorithm for the robust ILC design and prove the convergence of the control input and the error. Finally, the proposed algorithm is applied to a flexible link to demonstrate its effectiveness.

Original language | English |
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Title of host publication | Proceedings of 2009 7th Asian Control Conference, ASCC 2009 |

Pages | 716-721 |

Number of pages | 6 |

Publication status | Published - Dec 11 2009 |

Externally published | Yes |

Event | 2009 7th Asian Control Conference, ASCC 2009 - Hong Kong, China Duration: Aug 27 2009 → Aug 29 2009 |

### Publication series

Name | Proceedings of 2009 7th Asian Control Conference, ASCC 2009 |
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### Other

Other | 2009 7th Asian Control Conference, ASCC 2009 |
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Country | China |

City | Hong Kong |

Period | 8/27/09 → 8/29/09 |

### Fingerprint

### All Science Journal Classification (ASJC) codes

- Computational Theory and Mathematics
- Computer Vision and Pattern Recognition
- Control and Systems Engineering

### Cite this

*Proceedings of 2009 7th Asian Control Conference, ASCC 2009*(pp. 716-721). [5276347] (Proceedings of 2009 7th Asian Control Conference, ASCC 2009).

**Robust iterative learning control for linear systems with iteration-varying parametric uncertainties.** / Nguyen, Dinh Hoa; Banjerdpongchai, David.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*Proceedings of 2009 7th Asian Control Conference, ASCC 2009.*, 5276347, Proceedings of 2009 7th Asian Control Conference, ASCC 2009, pp. 716-721, 2009 7th Asian Control Conference, ASCC 2009, Hong Kong, China, 8/27/09.

}

TY - GEN

T1 - Robust iterative learning control for linear systems with iteration-varying parametric uncertainties

AU - Nguyen, Dinh Hoa

AU - Banjerdpongchai, David

PY - 2009/12/11

Y1 - 2009/12/11

N2 - In this paper, a new robust Iterative Learning Control (ILC) algorithm has been proposed for linear systems In the presence of iteration-varying parametric uncertainties. The robust ILC design is formulated as a min-max problem usmg a quadratic performance criterion subject to constraints of the control input update. An upper bound of the maximization problem is derived, then, the solution of the min-max problem is achieved by solving a minimization problem. Applying Lagrange duality to this minimization problem results in a dual problem which can be reformulated as a convex optimization problem over linear matrix inequalities (LMls). Next, we present an LMI-based algorithm for the robust ILC design and prove the convergence of the control input and the error. Finally, the proposed algorithm is applied to a flexible link to demonstrate its effectiveness.

AB - In this paper, a new robust Iterative Learning Control (ILC) algorithm has been proposed for linear systems In the presence of iteration-varying parametric uncertainties. The robust ILC design is formulated as a min-max problem usmg a quadratic performance criterion subject to constraints of the control input update. An upper bound of the maximization problem is derived, then, the solution of the min-max problem is achieved by solving a minimization problem. Applying Lagrange duality to this minimization problem results in a dual problem which can be reformulated as a convex optimization problem over linear matrix inequalities (LMls). Next, we present an LMI-based algorithm for the robust ILC design and prove the convergence of the control input and the error. Finally, the proposed algorithm is applied to a flexible link to demonstrate its effectiveness.

UR - http://www.scopus.com/inward/record.url?scp=71449089460&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=71449089460&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:71449089460

SN - 9788995605691

T3 - Proceedings of 2009 7th Asian Control Conference, ASCC 2009

SP - 716

EP - 721

BT - Proceedings of 2009 7th Asian Control Conference, ASCC 2009

ER -