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.

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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

T2 - 2009 7th Asian Control Conference, ASCC 2009

Y2 - 27 August 2009 through 29 August 2009

ER -